Conveyor tracking with multiple conveyors

pacijent

Hello to all. I'm not sure how to create rapid code if I have more than one conveyor to track with IRC5. In manuals I can see examples of rapid code for one conveyor, like this:

ActUnit CNV1;

MoveJ ....

WaitWobj wobjcnv1;

 MoveL....

 DropWobj wobjcnv1;

DeactUnit CNV1;

But what to do in case that I have 3 conveyors at the same time, I can activate them, and wait for wobj 1,2,3 on each of them, but then, how do I choose path corresponding to one of conveyors.

Thanks in advance.

Pavel Riabichev

Hello
I think your path has to know which conveyor to activate. For instance if you have 3 different paths for the 3 different conveyors. In path1 you will do WaitWobj wobjcnv1;
in path2 you will do WaitWobj wobjcnv2; etc.

In the manual there is info on how to setup the system.

pacijent

Thanks for your answer, so basically I should have multitasking option, inside semistatic tasks I should wait for wobj and jump to appropriate path for one of conveyors which got object first.

Pavel Riabichev

Hello
In the real application you would need some kind of sensor (camera maybe?) that will know which object the robot should go for.
Conveyor tracking only enables the robot to follow the conveyor (move with the same speed), it does not track the objects on the conveyor.


/Pavel