# IRB140 conveyor tracking \[PickMaster 3\] **URL:** \ **Category:** PickMaster\ **Created:** [November 19, 2004, 10:23am UTC](https://tech-community.robotics.abb.com/t/irb140-conveyor-tracking-pickmaster-3/240 "2004-11-19T10:23:34Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![Erik\_S](https://avatars.discourse-cdn.com/v4/letter/e/58956e/32.png) [@Erik\_S](https://tech-community.robotics.abb.com/u/Erik_S)\ **Post date:** [November 19, 2004, 10:23am UTC](https://tech-community.robotics.abb.com/t/irb140-conveyor-tracking-pickmaster-3/240/1 "2004-11-19T10:23:34Z")
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? ---
**Author:** ![Erik\_S](https://avatars.discourse-cdn.com/v4/letter/e/58956e/32.png) [@Erik\_S](https://tech-community.robotics.abb.com/u/Erik_S)\ **Post date:** [November 19, 2004, 10:27am UTC](https://tech-community.robotics.abb.com/t/irb140-conveyor-tracking-pickmaster-3/240/2 "2004-11-19T10:27:54Z")
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](http://forums.robotstudio.com/webwiz/technote040206pahs.zip)