# Vary Conveyor’s Speed  \[PickMaster 3\]

**URL:** <https://tech-community.robotics.abb.com/t/vary-conveyor-s-speed-pickmaster-3/707>\
**Category:** PickMaster\
**Created:** [April 21, 2006, 2:49am UTC](https://tech-community.robotics.abb.com/t/vary-conveyor-s-speed-pickmaster-3/707 "2006-04-21T02:49:05Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![BoonHua\_Ang](https://avatars.discourse-cdn.com/v4/letter/b/b9e5f3/32.png) [@BoonHua\_Ang](https://tech-community.robotics.abb.com/u/BoonHua_Ang)\
**Post date:** [April 21, 2006, 2:49am UTC](https://tech-community.robotics.abb.com/t/vary-conveyor-s-speed-pickmaster-3/707/1 "2006-04-21T02:49:05Z")

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Hi,

I would like to know whether we can vary conveyor’s speed without affecting all calibrations that have been done, i.e. vision system still generates correct position regardless the increase/decrease of conveyor’s speed.

BoonHua

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**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:** [April 21, 2006, 11:38pm UTC](https://tech-community.robotics.abb.com/t/vary-conveyor-s-speed-pickmaster-3/707/2 "2006-04-21T23:38:58Z")

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Hi,

Constant conveyor speed will always yield the most accurate result. The vision system is not affected by the change in conveyor speed, it will still generate correct position data.

A speed change (acceleration or deceleration) will however decrease the accuracy of the robot temporarly. During the time of acceleration/deceleration will the prediction that the robot has performed be incorrect and the accuracy will therefore not be as good as during constant conveyor speed.

This is less of a problem for the IRC5 from Robotware 5.07.01 when significant improvments were performed of the conveyor tracking functionality.

Erik