# DropWObj before time

**URL:** <https://tech-community.robotics.abb.com/t/dropwobj-before-time/6552>\
**Category:** RobotStudio\
**Tags:** conveyor-tracking\
**Created:** [March 24, 2015, 11:51am UTC](https://tech-community.robotics.abb.com/t/dropwobj-before-time/6552 "2015-03-24T11:51:22Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Bahadir\_Boge](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/bahadir_boge/32/3406_2.png) [@Bahadir\_Boge](https://tech-community.robotics.abb.com/u/Bahadir_Boge)\
**Post date:** [March 24, 2015, 11:51am UTC](https://tech-community.robotics.abb.com/t/dropwobj-before-time/6552/1 "2015-03-24T11:51:22Z")

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I have followed the conveyor tracking tutorial and later setup a station with an IRB5400. Below you can find my path

MODULE Module1  
CONST robtarget Target\_10:=[[-0.0031509,-408.212057437,1891.611066019],[0.488612588,-0.511133808,0.511133714,0.488612623],[0,-2,1,0],[9E9,9E9,9E9,9E9,9E9,0]];  
CONST robtarget Target\_20:=[[-933.561708337,-408.212509903,1891.611721475],[0.488612571,-0.511133148,0.511133704,0.488613342],[0,-2,0,0],[9E9,9E9,9E9,9E9,9E9,0]];  
CONST robtarget Target\_30:=[[-0.003087165,-519.824663011,1891.610671637],[0.489760153,-0.510034307,0.5100343,0.489760156],[0,-2,1,0],[9E9,9E9,9E9,9E9,9E9,0]];

PROC Path\_10()  
ConfL\Off;  
MoveL Target\_30,v1000,z100,Reiter\_Gun\_150\WObj:=wobj0;  
ActUnit CNV1;  
WaitWObj wobjCNV1;  
MoveL Target\_10,v1000,z100,Reiter\_Gun\_150\WObj:=wobjCNV1;  
MoveL Target\_20,v1000,z100,Reiter\_Gun\_150\WObj:=wobjCNV1;  
MoveL Target\_10,v1000,z100,Reiter\_Gun\_150\WObj:=wobjCNV1;  
MoveL Target\_30,v1000,z100,Reiter\_Gun\_150\WObj:=wobj0;  
DropWObj wobjCNV1;  
ENDPROC  
ENDMODULE

Here is what happens when I run the program:

[![](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/d/dd172cd3c4bcf381876359b52be8182c395437b9.jpeg "RobotStudio Conveyor Drop Object") ](https://www.youtube.com/watch?v=C9o0OOtVsPE)

As you can see, before robot returns to Target\_10, conveyor drops the object. Can anyone explain to me what I am doing wrong?

\*Run this on RS6.0 and R5.61.  
\*Checked maximum distance in encoder unit.

Thank you for your time.  
M.Bahadir Boge

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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [March 24, 2015, 2:06pm UTC](https://tech-community.robotics.abb.com/t/dropwobj-before-time/6552/2 "2015-03-24T14:06:53Z")

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The reason is that you have a big zone in the last motion instruction. The program pointer is usally always ahead of the motion pointer. So change the zone in your last instruction to a fine instead of z100

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**Author:** ![Bahadir\_Boge](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/bahadir_boge/32/3406_2.png) [@Bahadir\_Boge](https://tech-community.robotics.abb.com/u/Bahadir_Boge)\
**Post date:** [March 24, 2015, 2:37pm UTC](https://tech-community.robotics.abb.com/t/dropwobj-before-time/6552/3 "2015-03-24T14:37:42Z")

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Thanks for the answer.