"Hello all
Please forgive me for some possible English mistakes that may appear on the poster shown below.
I’m a newbie on this area, and started now working with the IRB340 flexpicker.
I also have the card D377A wich allows me to use the conveyor tracking position, but… for more than an week i’ve been crashing my head with this robot :grinning:
I’ve already downloaded the ppt with the tutorial for an easy “Using conveyor tracking in RobotStudio” but unfortunetly i’ve only have access to the online mode (I don’t know how can you use all those other options…).
Before me there were some other guys working with this robot and i believe that they left me with some of the configuration files missing 
.
Please find below the thing that i’ve already made 
1 - Trial up Program
MODULE MainModule
CONST robtarget p0:= …
CONST robtarget p10:= …
CONST robtarget p20:= …
CONST robtarget p30:= …
CONST robtarget p40:= …
PERS wobjdata wobjcnv2 := [ TRUE, FALSE, “CNV2” , [ [0, 0, 0], [1, 0, 0 ,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];
PROC main()
ConfLOff;
wobjcnv2.ufmec := “CNV2”;
ActUnit CNV2;
MoveJ p0, v1000, fine, tool0;
WaitWObj wobjcnv2;
MoveL p10, v1000, z1, tool0Wobj:=wobjcnv2;
MoveL p20, v1000, z1, tool0Wobj:=wobjcnv2;
MoveL p30, v500, z20, tool0Wobj:=wobjcnv2;
MoveL p40, v500, fine, tool0;
DropWObj wobjcnv2;
MoveL p0, v500, fine, tool0;
ENDPROC
ENDMODULE
But whent the program achieves:
ActUnit CNV2; → It says that there is no task associated to CNV2… says to go to the configuration files
2 - In the EIO.cfg file among other things i have:
EIO_UNIT:
-Name “Qtrack1” -UnitType “d377A” -Bus “Virtual1”
-Name “Qtrack2” -UnitType “d377A” -Bus “DeviceNet1” -TrustLevel 2
-DN_Address 62
-Name “BOARD11” -UnitType “d651” -Bus “DeviceNet1” -DN_Address 11
So I believe that the Qtrack2 is correctly enabled, right?
3 - In the PROC.cfg file among other things i have:
CONVEYOR:
-name “SSYNC1” -sensor_type “CAN” -use_sensor “CAN1” -adjustment_speed 250
-min_dist -600 -max_dist 20000 -async_filter_window_width 1.2
-correction_vector_ramp_length 30
-name “CNV2” -sensor_type “CAN” -use_sensor “CAN2” -adjustment_speed 250
-min_dist -600 -max_dist 20000 -correction_vector_ramp_length 10
CONVEYOR_CAN_SENSOR:
-name “CAN1” -eio_unit_name “Qtrack1” -connected_signal “c1Connected”
-position_signal “c1Position” -velocity_signal “c1Speed”
-null_speed_signal “c1NullSpeed” -wait_wobj_signal “c1WaitWObj”
-drop_wobj_signal “c1DropWObj” -data_timestamp “c1DTimestamp”
-rem_all_pobj_signal “c1RemAllPObj” -rem_one_pobj_signal “c1Rem1PObj”
-name “CAN2” -eio_unit_name “Qtrack2” -connected_signal “c2Connected”
-position_signal “c2Position” -velocity_signal “c2Speed”
-null_speed_signal “c2NullSpeed” -wait_wobj_signal “c2WaitWObj”
-drop_wobj_signal “c2DropWObj” -data_timestamp “c2DTimestamp”
-rem_all_pobj_signal “c2RemAllPObj” -rem_one_pobj_signal “c2Rem1PObj”
Can you plese tell me if there is any other configuration thing missing?
I’m still on testing mode (only trying to check if the auto tracking works correctly).
Please help because if completely freaking out since I don’t know where to start for… :grinning::grinning::grinning::grinning::grinning::grinning::grinning::grinning::grinning:
Can anyone help trying to correctly configure it?:stuck_out_tongue::grinning:
Thanks in Advance for All your help
Best Regards
Nuno Ferreira