Conveyor Tracking Help

Technical Questions
1

I’m relatively new to UR programming so I need a little help going started. I am currently trying to use the conveyor tracking feature to pick a product off a moving conveyor and place it in another spot triggered by a photo eye. Instead of moving with the part on the conveyor it simply goes to the waypoint, comes back up then goes to the drop off point. I attached a program picture to show what I am referring to. I have the line waypoints setup for the conveyor to follow and setup the encoder as the following:

Encoder type Incremental
Mode Quadrature
A Input digital_in(8)
B Input digital_in(9)

And wired the encoder in the same manner.

Im not sure what I should be doing to get it to move with the conveyor

Thank you!

PXL_20240919_211329300
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2

Hello,

Is your line feature correctly taught for the conveyor tracking? You want the direction from point 1 to point 2 of the line to match the direction the conveyor is moving.

Do you have the correct value input for ticks per meter?

Make sure your pick point is taught correctly for conveyor tracking. The best way to do this is place your product on the conveyor belt right where it triggers the part present sensor, then teach the correct pick point and other motion you want executed during conveyor tracking.