User`s guide

Installation
To set up a conveyor belt for use with a robot controlled by the V+ system:
1. Install all the hardware components and securely fasten them in place. The conveyor
frame and robot base must be mounted rigidly so that no motion can occur between
them.
2. Install the encoder on the conveyor.
3. Since any jitter of the encoder will be reflected as jitter in motions of the robot while
tracking the belt, make sure the mechanical connection between the belt and the
encoder operates smoothly. In particular, eliminate any backlash in gear-driven
systems.
4. Wire the encoder to the robot controller. (See the Adept MV Controller User's Guide for
location of the encoder ports.)
5. Start up the robot system controller in the normal manner.
6. Calibrate the location of the conveyor belt relative to the robot by executing the Belt
Calibration Program. That program is provided in the file BELT_CAL.V2, which is
supplied with your robot system.
1
When these steps have been completed, the system is ready for use. However, each time the
system is restarted, the belt calibration data must be reloaded (from the disk file created in
the above steps). The next section describes loading belt calibration.
1
See the Instructions for Adept Utility Programs for details.
Installation
V+Language User's Guide, v17.0
Page 308