[Cause]
During tracking, the robot position exceeded the downstream position of the tracking area. Possible causes are:
1. The current robot position was already beyond the downstream limit when tracking motion started. (In this case, the alarm occurs as soon as tracking motion starts.)
2. Tracking could not keep up; that is, the downstream limit was exceeded before tracking motion was completed.
Note: In case 2, if Tracking after program end is enabled and CNT (continuous) 1–100 is specified for the last motion in the tracking program, this alarm may occur with the TP cursor already advanced through the tracking program to a subsequent line.[Countermeasure]
Temporary countermeasures:
・If the conveyor can be reversed, first jog the robot back from downstream to a position far upstream. Then reverse the conveyor approximately the same distance as the robot. Resume tracking afterward.
・If the conveyor cannot be reversed, ignore the target workpiece and end this tracking operation. If necessary, perform this work during the next execution, then capture the trigger count again and track.
Fundamental countermeasures:
1. Countermeasures for cause 1 are as follows.
・Check that the downstream position is set correctly and correct the value if necessary.
・Correct the teaching so that the robot position at the start of tracking motion is upstream of the downstream limit.
2. The following methods may be considered as countermeasures for cause 2. Consider the system and select one or more to apply.
a. Move the downstream position farther downstream.
b. Move the upstream position farther upstream.
c. For vision tracking, set a release line. If one is already set, move it upstream. (The release line is generally set to a negative value.)
d. Enable the out-of-area skip function. If it is already enabled, increase the skip time margin.
e. Correct the teaching to shorten the time required for tracking motion.
f. Reduce conveyor speed.
g. Reduce the number of workpieces conveyed per unit time.