I have an application for lining up & rotating a component on the same conveyor as it was delivered on. The rotation is approx 180 deg & they need to end up in line from a scattered presentation.
Everything works ok except the gripper timing to release the product after the rotation varies a lot. It often releases early before the rotation has finished.
I have a Conv work area configured as Other & all my moves are in the Pick routine.
There is a MoveL across to above the product,
a TriggL down to conv level closing the gripper as it gets there,
a TriggL to move the product to the conv centre & rotate approx 180deg & open the gripper at the end to release the product.
a TriggL to move back up & acknowledge
I have set up a followtime (stoppoint data) in rapid to allow me to dwell at the end of the rotation which seems to work ok.
I am having to put large ?_"ve values in the Vac Rev (e.g. -0.3) to stop the gripper firing too early, which is weird but the real problem is that if the product does not have to be moved laterally but just rotated because it is already on the centre line, it fires the gripper much earlier than if it has to be moved sideways as well as rotated.
Total cycle time is about 1.1 sec