Conv. tracking accuracy during start/stop [PickMaster 3]

PickMaster
1

My application is working fine except that during conveyor start/stop the robot accuracy is not good enough. What can I do about it?

2

Please perform the following actions (the most important first):

  1. Calibration verification
  2. Make sure that the correct tool and item loads (including center of gravity) is defined within the RAPID program. Please note that there is one item load and one tool load.
  3. Make sure that the variable frequency drivers have a linear ramp (sometimes they have a S profile for acceleration and/or deceleration).
  4. Make sure that the start and stop ramp of the variable frequency drivers are as long as possible. Keeping the acceleration/deceleration low will increase the accuracy.
  5. Try to use different correction_vector_ramp_length and correction_vector_stop_ramp settings to tweak the robot to be more accurate (described in PickMaster user’s guide on page 20). The default settings are 5, by reducing this number, incrementally, down to the min value of 2, the robot will track the conveyor more accurately. It is however very important to watch the robot’s behavior when changing these values. An unwanted effect (with too low values) is that the robot starts to jerk violently, which must be avoided.