输送链跟踪说明书

ApplicationmanualConveyortrackingTracebackinformation:WorkspaceR15-1versiona3Checkedin2015-03-25Skribentaversion4.1.349ApplicationmanualConveyortrackingRobotWare6.01DocumentID:3HAC050991-001Revision:A©Copyright2004-2015ABB.Allrightsreserved.TheinformationinthismanualissubjecttochangewithoutnoticeandshouldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguaranteeorwarrantybyABBforlosses,damagestopersonsorproperty,fitnessforaspecificpurposeorthelike.InnoeventshallABBbeliableforincidentalorconsequentialdamagesarisingfromuseofthismanualandproductsdescribedherein.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB'swrittenpermission.AdditionalcopiesofthismanualmaybeobtainedfromABB.TheoriginallanguageforthispublicationisEnglish.AnyotherlanguagesthataresuppliedhavebeentranslatedfromEnglish.©Copyright2004-2015ABB.Allrightsreserved.ABBABRoboticsProductsSe-72168VästeråsSwedenTableofcontents7Overviewofthismanual...................................................................................................................8Productdocumentation,IRC5..........................................................................................................10Safety................................................................................................................................................111Introductiontoconveyortracking111.1Physicalcomponents.........................................................................................131.2Features..........................................................................................................151.3Limitations.......................................................................................................171.4Principlesofconveyortracking............................................................................232Installation232.1Hardwareconnections.......................................................................................242.2Installingtheencoderforconveyortracking...........................................................262.3Encoderlocation...............................................................................................272.4Connectingtheencodertotheencoderinterface....................................................302.5Synchronizationswitch.......................................................................................313Configurationandcalibration313.1Aboutconfigurationandcalibration......................................................................323.2CalibratingCountsPerMeterandQueueTrckDist.....................................................333.3Calibratingtheconveyorbaseframe.....................................................................363.4Definingconveyorstartwindowandsyncseparation...............................................373.5Definingtheconveyormaximumandminimumdistances.........................................383.6Definingtherobotadjustmentspeed.....................................................................393.7Additionaladjustments.......................................................................................403.8Configuringatrackmotiontofollowaconveyor......................................................423.9Installingconveyortrackingsoftware....................................................................433.10Installingadditionalconveyorsforconveyortracking...............................................454Programming454.1Programmingconveyortracking..........................................................................464.2Workingwiththeobjectqueue.............................................................................474.3Activatingtheconveyor......................................................................................484.4Definingaconveyorcoordinatedworkobject.........................................................494.5Waitingforaworkobject....................................................................................504.6Programmingtheconveyorcoordinatedmotion......................................................514.7Droppingaworkobject......................................................................................524.8Enteringandexitingconveyortrackingmotionincornerzones..................................534.9InformationonFlexPendant................................................................................544.10Programmingconsiderations...............................................................................554.11Finepointprogramming......................................................................................564.12Operatingmodes..............................................................................................575Systemparameters575.1Introduction......................................................................................................585.2To