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Conveyor Synchronization

The conveyor synchronization option lets a MOTOMAN robot work on parts while the conveyor keeps moving.

How it works​

  • An encoder on the conveyor tells the controller how far the belt has moved.
  • A conveyor origin limit switch marks the start of the synchronized zone.
  • You teach with the conveyor stopped. During playback the controller continuously shifts the taught path by the measured conveyor travel, so the robot keeps a constant speed relative to the workpiece.

This is called position-tracking synchronization.

Tracking with base axes or a travel axis​

The robot can follow the conveyor using its own base axes or an external travel (track) axis. It cannot do both at the same time.

Setup items you will meet​

  • Conveyor condition file: base axis, encoder resolution, virtual conveyor speed, averaging time, reset-signal monitoring time, behaviour when the conveyor slows down, minimum speed, limit-switch chatter filtering.
  • Resolution calibration – check and adjust so that the measured travel matches reality; resolution error shows up directly as tracking error.
  • A conveyor monitor screen shows the current conveyor position during operation.
  • Turntable synchronization extends the idea to circular conveyors and turntables, allowing interpolated motion synchronized with rotation.
  • A version with a shift function adds parallel shifting of the synchronized path.

Practical tips​

  • Check that each synchronized step was actually reached; stepping backward and changing tools inside a synchronized section have special rules.
  • After the robot stops mid-section, it re-synchronizes when restarted – make sure the part is still in reach.

Source: Based on YASKAWA manual HW1483411.