Universal Robots UR10/CB3, User Manual

Page: 209 / 249

Pick/Place Sequence
The Pick/Place Sequence is a special program sequence performed at each stack position,
similar to the Pallet operation (see
1.24.29. Command: Pallet on page 196 ).
1.24.31. Command: Conveyor Tracking
NOTE
Using this function at the same time as Force can lead to a program conflict.
• Do not use this function together with Force.
The robot can be configured to track the movement of one configured conveyor (Conveyor 1).
When the
Conveyor Tracking defined in the installation is configured correctly, the robot adjusts
the movements to follow the conveyor. The Conveyor Tracking program node is available from
the Wizards tab under the Structure tab. All movements under this node are allowed while
tracking the conveyor, but they are relative to the motion of the conveyor belt. The Conveyor
Tracking setup under the Installation tab (see section 1.23.13. Conveyor Tracking Setup on
page 148 ) provides options for configuring the robot to work with absolute and incremental
encoders, as well as, linear and circular conveyors.
NOTE
The Control Box can only accomodate one incremental encoder that must be
used with one conveyor (Conveyor 1) .
1.24.32. Command: Suppress
Suppressed program lines are simply skipped when the program is run. A suppressed line can be
unsuppressed again at a later time. This is a quick way to make changes to a program without
destroying the original contents.
1.24.33. Graphics Tab
Graphical representation of the current robot program. The path of the TCP is shown in 3D view,
with motion segments in black, and blend segments (transitions between motion segments)
shown in green. The green dots specify the positions of the TCP at each of the waypoints in the
program. The 3D drawing of the robot arm shows the current position of the robot arm, and the
shadow of the robot arm shows how the robot arm intends to reach the waypoint selected in the
left hand side of the screen.
User Manual 201 UR10
C
o
p
yr
ig
h
t
©
2
0
0
9
–
2
0
2
0
b
y
U
n
iv
e
rs
a
l
R
o
b
o
ts
A
/S
.
A
ll
ri
g
h
ts
re
s
e
rv
e
d
.