Option 606-1 versus Option 642-1

dhyan

Dear All
 
    Today I will built system (IRB4600 track the conveyor movement) and I use no camera (no machine vision).
I have bought option 642-1 Prepared for Pickmaster 3.
 
Question-1 : (Pickmaster topic)
    I did first step on setting Pickmaster : calculate Count per Meter. I loaded ppacal.prg and run it on manual mode until FP say : "ready for calibration".
On jogging menu : CNV1 activated and distance show 0.0 mm. When I run conveyor, diplay show a positif value (higher than 0.0 ) .But when I stoped conveyor, the value go back to 0.0.  As long as I remember, after I stop conveyor, the value must be hold on the current value.
    I have faced the same problem as above on my Flexpicker (with camera) and I know that there was a problem with strobe. But my system above has no strobe, is there any problem with my doMansync signal? Only this signal becomes suspect.
 
Question-2 : (Robot Ware topic)
    Now I have no time to finish my system using Pickmaster and I will finish it using Conveyor Tracking (with my own Rapid).       
My ABB contact said that Conveyor Tracking is included on Pickmaster 3. Can I use option "642-1 Prepared for Pickmaster 3" to run Conveyor Tracking as I use option "606-1 Conveyor Tracking" without using option 606-1 itself?    
 
 Thank you very much for your support.
 
Best Regard

Dhyan Wicaksono

Henrik Berlin

Moved to RobotWare forum.