I have tried different calibrations and I do always have one of the following two problems:
My application is working fine as long as the conveyor is moving, but as soon as the conveyor has stopped, the robot will always place too far upstream on the conveyor.
My application is working fine as long as the conveyor is not moving, but as soon as it moves, the robot is always going to far downstream.
This issue may be present on newer S4C+ controllers. The newer the controller is, the more likely will it be to experience this problem. This issue is fixed by modifying a system parameters value. Modify the PROC.cfg file (changes in bold). Please note that the suggested value below is a good starting value for a new S4C+ controller, if you have an older controller this value might have to be increased. Also, the value should be changed on the CAN unit connected to the conveyor.
CONVEYOR:
-name “CNV1” -sensor_type “CAN” -use_sensor “CAN1” -adjustment_speed 250
-min_dist -600 -max_dist 20000 -sync_filter_speed_ratio 0.8
-sync_filter_window_width 0.5 -sync_filter_blind_length 5
-async_filter_speed_ratio 0.1 -async_filter_window_width 2
-async_filter_blind_length 8 -correction_vector_ramp_length 10
CONVEYOR_CAN_SENSOR:
-name “CAN1” -signal_delay 17 -connected_signal “c1Connected”
-position_signal “c1Position” -velocity_signal “c1Speed”
-null_speed_signal “c1NullSpeed” -wait_wobj_signal “c1WaitWObj”
-drop_wobj_signal “c1DropWObj” -rem_all_pobj_signal “c1RemAllPObj”
-rem_one_pobj_signal “c1Rem1PObj” -pos_update_time 20 -supervise_max_dist_off
-newobj_strobe “c1NewObjStrobe” -encA_fault_signal “c1EncAFautlt”
-dir_of_travel_signal “c1DirOfTravel” -force_job_signal “c1ForceJob”
-count_to_enc_strobe “c1CountToEncStr” -pos_in_jobq_signal “c1PosInJobQ”
-obj_in_queue_signal “c1ObjectsInQ” -count1_from_enc “c1Count1FromEnc”
-count2_from_enc “c1Count2FromEnc” -count1_to_enc “c1Count1ToEnc”
-count2_to_enc “c1Count2ToEnc” -scale_enc_puls “c1ScaleEncPuls”