Hi,
I’m UR Robot user of South Korea.
This time, we will use the conveyor tracking function for the first time.
I would like to ask a few questions about this.
First, the length of the encoder cable was extended to about 10 meters to use the incremental encoder method.
This results in 1v of noise.
It can be ignored, but the calculation method of the UR conveyor tracking function is very sensitive, so even small noise seems to cause problems.
Therefore, I would like to ask if there is a way to set the voltage level to detect the encoder pulse.
Second, when the encoder rotates forward, it functions normally when it is set to check the Falling edge on A.
However, when the encoder is rotated backward in the same setting, the robot shakes. (Repeat rapid acceleration and deceleration)
I understand that phase difference between A and B occurs 90 degrees, but I think there is no problem in determining the speed of the conveyor by detecting EDGE.
I wonder what caused the problem with the conveyor tracking function of the incremental encoder depending on whether it is a full rotation or a reverse rotation when selecting the A phase.
Thanks,
From Oh