Restrictions

The conveyor tracking functionality has the following restrictions:

• No coordinate systems may be selected during synchronisation or desynchronisation. This means that coordinate systems selected before synchronisation must be deselected before #SYNC IN by using #CS OFF. After synchronisation with the conveyor is terminated, coordinate systems may be selected for working on the moving workpiece. However, the coordinate systems must then be deselected using #CS OFF before desynchronisation.
• During the machining process, the conveyor velocity and programmed feed rate must be set so that machining is completed before the workspace limit is reached in the conveying direction.
• Synchronisation can only take place on linear conveyors or conveyor systems that move linearly within the synchronisation range.
• Only one axis can be configured as conveyor axis in an NC channel.
• The intersected movement uses a special jerk-limited slope type. It is not permitted to change the slope type using the #SLOPE command in the synchronised state. When synchronisation takes place, the slope type is automatically switched over to the jerk-limited slope. After desynchronisation, it is reset to the default slope type configured in the channel.
• When a kinematic transformation is used, such as with articulated arm, delta or SCARA robots, dynamic overshoots may occur when synchronisation with the conveyor belt is active. These overshoots may be caused by fluctuations in conveyor belt velocity during the movement. In this case, the belt velocity or the dynamic axis limits can be reduced.