Conveyor tracking

ctiger 2018-09-19

Hi All,

I am using UR 10e series. I would like to know how do I give a simulated conveyor tracking to the UR without the inputs of conveyor belt? I would like to learn how it would run in a linear tracking, but the Polyscope asking for Modbus.

How do I bypass the Modbus and have the UR running on its own?

Thanks in advance.

louis_bergeron 2018-09-20

@ctiger

With the UR script function set_conveyor_tick_count(), you can simulate the conveyor motion. In a parallel thread, you can define the conveyor actual position and motion by updating the tick count continuously.

ctiger 2018-09-20

@louis_bergeron may I ask the tick per meter higher the value faster the robotic arm travel?

louis_bergeron 2018-09-21

@ctiger

If I'm right, at 1000 tick per meter, if you increase the actual tick count by 1 every second, the robot position will be offset in the conveyor direction at 1 mm/s. At 10 000 tick per meter, an increase of the tick count by 1 every second, the robot position will be offset at a rate of 0.1 mm/s.