Issues using Conveyor Tracking and External Axis

NFC

Hi,

there's some issues in using Conveyor Tracking and External Axis, that makes the programming very difficult almost
impossible without manual editing of all targets.

REAL ROBOT

1)During programming session with the TPU on the real robot, what is stored in the robtargets is:

RobTarget.extax.eax_a <- The value of the linear external axis;
RobTarget.extax.eax_f <- The value of the conveyor (C1Position * 1000);

2)During playback of the program on a real robot, the value of the External axis is calculated like this:

MechUnit_AX7 = RobTarget.extax.eax_f - RobTarget.extax.eax_a + MechUnit_CNV

ROBOTSTUDIO

1)Simulation play (Virtual Controller takes control over the robot "puppet"):
works perfectly and reproduces the real robot behaviour.

2)Instruction-Teach/Modify-Position with wobj moved by mech unit CNV:
Target.extax.eax_a = Value of the mechanism External axis; This is OK!
Target.eatax.eax_f = 0 (Zero); This is NOT OK, should take the value of mechanism Conveyor!

Therefore it is necessary to edit manually all the conveyor value (eax_f) on all targets!

3)Jump-To-Target/View-Robot-At-Target:
Does not take care of the actual conveyor position and of the Target.extax.eax_f (recorded conveyor position).
The mechanism External Axis should make the same calculation as the RealRobot/VirtualController do:

Mechanism External Axis Position = Target.extax.eax_f - Target.extax.eax_a + Mechanism Conveyor Position

Targets navigation in object browser and simulation gives different results and generate real confusion.
It's almost easyer in this case to perform a "classic" programming session (ShopFloorEditing / TPU).

In attachment you'll find a P&G I tested with:

webwiz/2970/RS_TempTest.zip

Regards,

Nils.

 

 

NFC

Ops,

 

I forgot to specify that the robot parameter "Motion/Robot/ROB_1/Track conveyor with robot" is set to NO.

So the robot just performs the tracking with external axis.

 

Regards,

Nils.

Henrik Berlin

We have done some improvements in RobotStudio 5.13.01 to fix this. It will be available shortly.