# Conveyor tracking ACC and RAMP

**URL:** <https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450>\
**Category:** Robot Controller\
**Created:** [January 21, 2009, 10:17am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450 "2009-01-21T10:17:31Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![tony\_m78](https://avatars.discourse-cdn.com/v4/letter/t/f4b2a3/32.png) [@tony\_m78](https://tech-community.robotics.abb.com/u/tony_m78)\
**Post date:** [January 21, 2009, 10:17am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450/1 "2009-01-21T10:17:31Z")

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Hello everybody,  
I’m currently building a conveyor tracking application over an IRB660 robot, the problem is that I can’t understand how the AccSet X,Y parameter affect the moviment. It seems that a “AccSet 100,100” setting is the best to get a good-looking robot moviment while following the conveyor, but I can’t use that because otherwise the product is lost from the pick-up head; then I tried to use something like “AccSet 70,50”, but the robot seems to be “delayed” respect to the conveyor, it moves foward-backward 2 or 3 times before connecting to the right speed.  
I could try many combinations of ACC and RAMP, but… what’s the correct default value for conveyor tracking application?A?  
Sorry for myA?“bad way” to explain the situation, but I’m a newbie into the big Robots world…A?:stuck\_out\_tongue:  
Thanks  
Antonio

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<div class="post-metadata">

**Author:** ![tony\_m78](https://avatars.discourse-cdn.com/v4/letter/t/f4b2a3/32.png) [@tony\_m78](https://tech-community.robotics.abb.com/u/tony_m78)\
**Post date:** [January 22, 2009, 9:58am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450/2 "2009-01-22T09:58:58Z")

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…nothing? ☹

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**Author:** ![Raoul.A](https://avatars.discourse-cdn.com/v4/letter/r/dbc845/32.png) [@Raoul.A](https://tech-community.robotics.abb.com/u/Raoul.A)\
**Post date:** [January 22, 2009, 11:10am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450/3 "2009-01-22T11:10:56Z")

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Hello Tony

You should post a backup and details of your path and conveyor speed (constant or stop and go)

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<div class="post-metadata">

**Author:** ![tony\_m78](https://avatars.discourse-cdn.com/v4/letter/t/f4b2a3/32.png) [@tony\_m78](https://tech-community.robotics.abb.com/u/tony_m78)\
**Post date:** [January 22, 2009, 1:46pm UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450/4 "2009-01-22T13:46:06Z")

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No problem about speed, it’s constant speed…

Here some code:

MoveL Offs(DEP\_SACCHE{N\_PROG},OFFSET\_SCARICO,200,200), VEL\_BASSA, z150, TOOL\_ATTIVOWObj:=WobjCnv; MoveL Offs(DEP\_SACCHE{N\_PROG},OFFSET\_SCARICO,200,0), VEL\_BASSA, fine, TOOL\_ATTIVOWObj:=WobjCnv; VUOTO\_OFF “1”;  
AccSet 100, 20; MoveL Offs(DEP\_SACCHE{N\_PROG},OFFSET\_SCARICO,400,0), VEL\_BASSA, fine, TOOL\_ATTIVOWObj:=WobjCnv; ! SALVO LA QUOTA ATTUALE LAST\_POS:=CRobT(Tool:=Tool10Wobj:=Wobj1); LAST\_POS.trans.z:=1800; LAST\_POS.trans.y:=LAST\_POS.trans.y+50; PRECEDENTE:=2; VUOTO\_OFF “2”;

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<div class="post-metadata">

**Author:** ![Raoul.A](https://avatars.discourse-cdn.com/v4/letter/r/dbc845/32.png) [@Raoul.A](https://tech-community.robotics.abb.com/u/Raoul.A)\
**Post date:** [January 22, 2009, 2:30pm UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-acc-and-ramp/2450/5 "2009-01-22T14:30:59Z")

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What are values of  
vel\_bassa  
conveyor speed  
tool  
load data  
parameters  
adjustment\_speed

Do you start tracking with this move instruction ?  
When do you have oscillation ?  
Can you post a video ?