I wanted to look at conveyor tracking behavior using the example on the support page “NEW CONVEYOR TRACKING GUIDE (CB3 ≥ 3.8 AND E-SERIES ≥ 5.2)” in the simulator.
If I load the sample program “SIMULATED_track_linear_conveyor_NEW .urp” into the simulator and start from a defined position, the movement results as expected.
With a waiting time of 1s, the counter increases by 100 ticks, which corresponds to a movement of the conveyor belt by 0.1 m. This results in a movement of the robot from x= 0 to about x=0.1m without an explicit Move command being executed.
Then I have changed the program. I suppressed the wait command in the program loop and stopped the program with an if condition if the counter reaches 100 ticks.
Now the dynamic behavior in the simulator changes. Instead of reaching the x-position 0.1m, it only moves the robot to the position about x=0.02m.
What is the reason for this behavior?