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This section describes what happens when two robot systems have different task frame
positions but uses the same sync switch. This means the Baseframes of the conveyor
mechanical units in both the robot systems have different values.
Prerequisites
Two robot systems with conveyor tracking option (system 1 and system 2)
NOTE! See Create Conveyor mechanism on page 287 to create conveyor tracking systems.
Setting up the conveyor tracking station
1. Add the existing system (system 1) to the station. See Robot System on page 192.
NOTE! After starting the system, when asked to select the library, browse and select the
already saved conveyor mechanism library.
2. Modify the baseframe positions of conveyor and robot.
1. Move the mechanical unit (conveyor/robot) to its new location.
2. See Updating the baseframe position on page 370 to update the baseframe position of
the conveyor/robot.
3. Repeat steps 1 and 2 to modify the baseframe position of the robot.
4. In the System Configuration window, click OK. When asked if you want to restart
the system, answer Yes. Close the System Configuration window.
3. Add the existing system (system 2) to the station. See Robot System on page 192.
NOTE! After starting the system, when asked to select the library, browse and select the
same library as the one selected for system 1 or any other library. Later, this conveyor
library will be removed from the station since system 2 shall use the same conveyor
library as system 1.
4. Update both systems (system 1 and system 2) to use the same conveyor library.
1. In the Offline browser, click System Configuration to bring up a dialog box for
system 2.
2. Select the library node in the hierarchical tree.
3. Select the option Select from Station. Click Change. The Select Library dialog box
appears.
4. Select the same conveyor library as the one selected for system 1. Click OK.
NOTE! Now both systems (system 1 and system 2) use the same conveyor library and the
library previously referenced by system 2 is removed from the station.
5. Modify the task frame position of the conveyor mechanism. See Set Task Frames on page
369.
NOTE! Before modifying the task frame, make a note of the current conveyor position in
world coordinates. After modifying the task frame, move the conveyor back to the
position it was before modifying the task frame.