3.1.1. Program teaching

To automatically calculate the conveyor angle, first the program for auto calculation must be prepared as follows.

If the shape of the conveyor is circular, locations of 3 points are required to calculate the angle. Repeat step (3) one more time below.

To set the angle accurately, select locations that are far apart as much as possible. (Linear distance: 1m or above)

(1) Select a new program to automatically calculate the conveyor angle.

(2) After moving the tool end of the robot to a specific location of the workpiece on the conveyor, record S1.

(3) Operate the conveyor to move the workpiece and move the tool end of the robot to the specific location of (2), and then record S2.

(4) The following program will be prepared.