I have been asked to review an application for conveyor tracking with a 140 (or 140T). In the PickMaster product spec there is an accuracy graph for the 340. Is there a similar graph or table of tracking accuracy for the 140? Is there any max tracking speed for the 140/140T?
The accuracy of the conveyor tracking process is the same for both IRB140(T) as on the IRB340 and the IRB340/2kg. However, as the IRB340/2kg and the IRB140(T) has lower acceleration/deceleration capabilities they will not be able to have the same accuracy as the IRB340 during conveyor start and stop ramps.
A long linear ramp will reduce the error during conveyor start or stop. Also, when using slower robots the correction vectors might have to be changed. Please refer to Chapter 2 (System setup) in the PickMaster 2.3x User’s Guide for more information.
The attached technote lists the max conveyor speed for the IRB340/2kg and the IRB140. There is no significant difference in conveyor tracking capabilities between the IRB140 and the IRB140T.
technote040206pahs.zip