Operating principle

Synchronisation is always with the 1st axis in the channel (axis index = 0). Two coordinate systems of the conveyor system are used here.

The conveyor can be offset and rotated in space as required in relation to the machine coordinate system. This position of the conveyor relative to the machine origin or to the machine coordinate system (MCS) must be configured using transformation T0 (P-CHAN-00368 to P-CHAN-00373). This describes the position of PCS0 in the MCS.

Synchronisation is actuated by a trigger. For example, this can be done by a camera system or by an object moving through a light barrier. First, the current measured value of the conveyor system at the time of the trigger event is detected. At time t0 of the measurement, the co-moving workpiece coordinate system PCS1 is identical to the stationary coordinate system PCS0. The coordinate system then co-moves with the conveyor system. Later, at time t1, the coordinate system PCS1 is then moved by the distance covered by the conveyor system between t0 and t1.

The figure below shows the relationship between these coordinate systems and the schematic structure of the conveyor tracking functionality:

Schematic structure
Schematic structure

After synchronisation, the workpiece coordinate system PCS1 is co-moved with the conveyor in the conveying direction until desynchronisation. The intersected path is then programmed in the co-moving coordinate system. After synchronisation is completed, other coordinate systems can be configured and selected based on PCS1. Synchronisation can take place in the positive and negative conveying directions.

Here, the linear conveyor is the master axis and must be configured in the CNC as a spindle. It is also possible to synchronise multiple channels simultaneously with a physical conveyor system.

Synchronisation with the linear conveyor means that, depending on the conveyor velocity vconv, the full dynamics are not available for the intersected movement.

The software limit switches continue to be monitored while synchronisation is active. In addition, contour intersections with workspace limits in the opposite conveying direction are monitored and adjusted by reducing the programmed velocity so that the end position is not overshot.

Kinematic transformations can be selected before synchronisation, in particular for handling tasks.

See the appropriate section for details on Programming the conveyor tracking functionality.