ABB IRC5P, Руководство по эксплуатации продукта, Страница: 86 / 220

5 Installation and Commissioning
5.6 Encoder and Sync Switch Installation
86 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
5.6 Encoder and Sync Switch Installation
5.6.1 Introduction
General
Conveyor tracking is a function to be used when the robot is operating on objects on
a moving conveyor line. By using the tracking function, the robot programs will be
executed correctly in relation to the work object, independent on how the work
object moves on the conveyor.
To enable the tracking function, a conveyor encoder and a sync switch must be
installed on the conveyor and the robot must have been supplied with the tracking
function.
The following sections provide information on the installation and connection of the
encoder and sync switch. For information on how to enter the required data and
parameters for setting up the tracking function, see ‘Operator’s Manual, IRC5P’.
Important
Considerations
To ensure good operation of the tracking function, following points must be
observed:
• The robot or robots (and trolley rail system if used) must be installed as
accurately as possible, which normally means at about +/- 0.5 mm maximum
deviation from theoretical positions.
• If robots are installed on both sides of the conveyor, the robots and rails must
also be installed symmetrically relative to the object, so that mirroring of robot
programs can be possible in the same part of the robot’s work envelopes.
• The conveyor must be able to run steadily at all speeds to avoid jerky or
swinging motions of the work objects on the conveyor.
• It must be possible to install an encoder at a location which will reflect the true
speed of the conveyor in front of the robot. This means a location as close to the
robot as practically possible.
• The distance between the encoder and the connection point for the encoder
(control cabinet) should be kept as short as practically possible to minimize the
effect of noise on the encoder signal.
• One encoder may be connected to serve more than one robot.