Offset a program on UR 10e with conveyor tracking

MrTyler

Currently have a UR 10e doing conveyor tracking. I only have a small window to program all the positions. I want the UR to pick up the tool right when it enters the window and begin tracking, the issue is that I have to program all the points within the window. 
I attached a photo showing where the tool is to show where I have to do the programming and the robot is where I want it to start tracking. Conveyor moves from right to left. The Left side of the tool would be the leading edge coming past the robot arm. 

DBarton

It's kind of hard to tell what you are trying to do from the picture and description. If you insert a conveyor tracking template into your program, any waypoints within it's tree will move based on your conveyor direction and speed. Make sure you set a feature to represent direction of your conveyor and reference it in your conveyor tracking setup.

MrTyler

The conveyor tracking works fine. I set the feature up for that. My start signal is located on the right hand side of the photo. When it starts tracking the robot races back to the left to hit my first point and begins tracking so none of the waypoints are in the right spot. I need to shift all the points in the program to the right. I assume I have to create a plane then shift the whole plane. 

matthewd92

Sounds like your initial point is off from where it needs to be, is the tracking taught relative to that?  A video showing what it is doing and the code would help us help you.

DBarton

copying and pasting the waypoints won't work. You would need to teach the waypoints while inside the conveyor tracking tree. What I would do is go through the waypoints you need to move 1 by 1. Move to each waypoint, then create a new waypoint in the conveyor tree and just teach that location as current location. That way none of your waypoints would technically need to be re-taught. A little tedious but less work than re teaching each position.

MrTyler

I figured out what I needed to do. To offset the points I had to create a plane variable then use a pose_trans() with an offset. Thank you for the help. Sorry I didn't explain my issue very well.