Optimizing Conveyor Tracking Parameters [PickMaster 3]

PickMaster
1

Hi All,

I am setting up a system with 2 robots and 1 controller. For my application, the belt running speed is set to 400 mm/s and I have the adjustment speed set at 520 mm/s (130% of max conveyor speed). However, the robot has issues tracking or keeping up with the items. Therefore, I just started increasing the adjustment speed but the robot motion starts to be a little more jerky [I had to increase the adjustment speed to 970]. It is only jerky on the first pick and it is obvious when the robot moves from the place position back over to the conveyor. It looks like the robot starts to overshoot and then corrects itself to pick up the item.

I have not modified any of the other default parameters under the PROCESS topic. Should I be modifying the start ramps and adjustment accels with the adjustment speed set at 520? Also, I have a double-pick gripper configuration. The problem is only on the first pick (when the robot moves from the place back to the conveyor). There are no motion issues with the second pick as the robot is already above the conveyor.

Anyone ever experience this issue before?

Any feedback would be great!

Thanks,

Dino

2

It very much depends on the robot type, which is unknown. The distance between the start point, where the conveyor adjustment is starting to act, to the pick point is important. If too short, you might need to decrease the start ramp in the PROCESS parameters.