Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-3 Ro
bo
t F
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tion
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2
-3-6
Conveyor
Synchr
onization
Conveyor tracking is a process in which an object (workpiece) laying on a moving or stationary con-
veyor belt is followed-up by a robot. Robot can perform action when is synchronized with the object, it
depends on the application. In the most typical application the robot picks-up the object and places it in
another place (box, conveyor…). Objects laying on the conveyor could be detected by a vision system
or by a sensing device (magnetic sensor, etc.).
By using robotics functions you can make the robot to move from the current position and track the
specified workpiece on the conveyor.
After catching up, the robot moves in synchronization with the workpiece.
The synchronization is canceled when the robot moves to the next target position.
Use the MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction to start synchronization
with the conveyor. To cancel the synchronization, use the MC_SyncOut (End Synchronization) instruc-
tion.
Refer to MC_SyncLinearConveyor on page 4-38 for details on the MC_SyncLinearConveyor (Start
Conveyor Synchronization) instruction, and MC_SyncOut on page 4-59 for the MC_SyncOut (End Syn-
chronization) instruction.
You can set offsets during conveyor synchronization.
If an offset is enabled, the offset value is added to the position of the workpiece on the conveyor, and
TCP moves to the calculated position.
The offset value is applied in every control period. Therefore, the robot can operate in different ways
while synchronization with the conveyor is maintained.
Refer to Setting Offsets on page 4-53 for details.
Precautions for Correct Use
• You can enable offsets only when TCP is in synchronization with the workpiece. If you enable
offsets when synchronization is not performed, an error will occur.
• If an offset is changed from Disabled to Enabled, the offset value of the moment is applied.
Note that the motion of TCP may change suddenly depending on the offset value.
• If an offset is changed from Enabled to Disabled, the offset value of the moment is main-
tained.
2-3-6 Conveyor Synchronization
Offset Setting
Synchronized
with workpiece.
Tracks workpiece.
Synchronization canceled.
Current position
Sensor