3.1.1. Program teaching

3.1.1. Program teaching

 

In order to get the conveyor angle calculated automatically, it is required to prepare the program designed for the auto calculation as shown below.

 

In case of a circular type conveyor, the positions of 3 points are needed to calculate the angle.

The Step (3) of the following steps needs to be repeated once more.

 

Their individual positions need to be distant from each other to make sure that the angle can be set correctly (Linear: 1m or longer).

 

(1)   Select a new program for calculating the conveyor angle automatically.

 

(2)   Move the tip of the robotic tool to a specific position on the workpiece on the conveyor and record it as S1.

 

 

(3)   Transport the workpiece by running the conveyor, and then move the tip of the robotic tool to the specific position of Step (2) and record it as S2.

 

 

(4)   Then, the program will be prepared as shown below.