User`s guide

Introduction to Conveyor Tracking
This chapter describes the Adept Conveyor Tracking (moving-line) feature. The moving-line
feature allows the programs to specify locations that are automatically modified to
compensate for the instantaneous position of a conveyor belt. Motion locations that are
defined relative to a belt can be taught and played back while the belt is stationary or moving
at arbitrarily varying speeds. Conveyor tracking is available only for systems that have the
optional V+ Extensions software.
For V+ to determine the instantaneous position and speed of a belt, the belt must be
equipped with a device to measure its position and speed. As part of the moving-line
hardware option, Adept provides an interface for coordinating two separate conveyor belts.
Robot motions and locations can be specified relative to either belt.
There are no restrictions concerning the placement or orientation of a conveyor belt relative
to the robot. In fact, belts that move uphill or downhill (or at an angle to the reference frame
of the robot) can be treated as easily as those that move parallel to an axis of the robot
reference frame. The only restriction regarding a belt is that its motion must follow a
straight-line path in the region where the robot is to work.
The following sections contain installation and application instructions for using the moving-
line feature. Before using this chapter, you should be familiar with V+ and the basic
operation of the robot.
Introduction to Conveyor Tracking
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