Error 50163 During Conv Tracking [PickMaster 3]

PickMaster
1

Hello

I would appreaciate any help on the following problem

Using conveyor tracking for our pick work area, at the point of the corner path into the pick elevation move down we stop with an Error 50163 Position Adjustment. The conveyor is running at constant speed and is only stopped when the line is stopped. We do have a high inertia load attached which is being rotated 90deg between pick and place, although i believe the robot adjusts any x/y speeds according to completing any rotation before picking/placing.

Regards

Mark

2

Hello Mark,

We have recently seen a similar problem with a 340 carrying 2 kg with big rotation. In order to work around this problem,the PROC.cfg parameter adjustment_accel was set to to 50000 and the previous point (which was a wait position after place) was moved a longer distance from the pick position. Also, you can try to reduce the vtcp orientation speed for the rapid speeddata MaxSpeed used in the pick and place routines, from 10000 to 500 (as axis 4 is not helicopter :wink:).

BR Anders