ABB's Stepper Conveying Line Tracking (ICC) provides the ability for robots to track workpieces on moving conveyor belts. The stepper conveyor has a number of equally sized barriers into which the operated workpieces are placed. To receive the workpiece in such a barrier, the conveyor line needs to be temporarily stopped to obtain the workpiece, and then the conveyor line is quickly moved to receive the new workpiece in the next barrier. This fast stop and move in a certain distance is called stepping. When the step conveyor line is in operation, the robot will track the workpiece on the conveyor line. In addition, even if the step conveyor line speed changes during operation, the position relative to the workpiece will remain unchanged. The most prominent advantage of ICC technology is high-speed precision tracking, which enables robots to track high-speed stepper product lines with high precision. The conveyor line is driven as an external shaft of the ABB robot . It is driven by the ABB servo motor and is controlled by the robot system. This ensures high-speed and precise synchronization of the robot and the stepping line. The same controller is precisely controlled and does not need to be Encoder and encoder board. Even when robots and products are moving at high speeds, accurate tracking is possible. The linear acceleration of the robot tracking step line can reach 12000mm/s2. Schematic diagram of robot two-line ice cream packing system layout Robot technical parameter model: IRB 360-8/1130 The fixture technology is advanced. Because the product spacing between the step-by-step product conveyor line and the product spacing after the boxing is different, when the robot grabs and places the product, the 4th axis of the robot is used as the telescopic power on the fixture to realize the weight reduction of the fixture. Improve the stability of the fixture. Plug,Plug Power Stock,Plug Power Yahoo,Power Plug Stock WENZHOU TENGCAI ELECTRIC CO.,LTD , https://www.tengcaielectric.com
ABB's ICC technology is suitable for applications where standard form factor materials need to be processed in batches after batch processing. In general, in a “box-mounted†application, the loading line will place the object on the stepping conveyor at a high rate of frequency. The robot then picks up the objects on the stepping conveyor and places them on the blanking line. 
Features ? Linear Conveyor Belts? For all ABB IRB 360 model robots? Up to two IRB 360s in the MultiMove setup work with separate stepper conveyor lines.
• Up to 2 step conveyor lines and 2 regular conveyor lines can be operated at the same time, and tracking can be switched between the two conveyor lines.
• The stepper conveyor line is controlled by the robot system, ie no encoder board is required.
• Synchronize the step conveyor line when a new incoming object is input via a digital signal.
• Up to 100 objects can be organized into a single object queue, and this queue can be manipulated by the RAPID instruction. It is possible to define the startup window that an object must be in before the start of the trace.
• The maximum tracking distance can be specified.
• The conveyor line tracking can be activated “on the flyâ€, ie it must be stopped at the fine point.
• Can work independently or with PickMaster 3.
Application Case ABB Stepping Conveying Line Tracking (ICC) provides an efficient and fast food packaging solution. The following is a specific case of the Mengniu ice cream project. One set of ABB robot two-line ice cream packing system, including one IRB 360-8 /1130 industrial robot and supporting robot fixture , robot bracket, stepping product conveying line ICC, product acceleration conveyor line. 
Wrist weight: 8 kg
Maximum span diameter: 1.13 m
Number of axes: 4
Protection level: IP54
Installation method: Upside down installation Position repeatability: 0.07 mm
Power: 3 phase 400V (+10%, -15%), 50Hz
Rated power: 4 KVA
Ambient temperature: 5°C- 45°C
Relative humidity: 95%
Noise level: <70dB
Fixtures ? Fixtures consist of mechanical components, vacuum systems, and so on.
• The fixture draws 5 or 10 products at a time.
• The method of grabbing is to grab one and put one or two boxes at a time (corresponding to different fixtures).
? Strong compatibility, the same set of fixtures can adapt to dozens of different specifications of the product.
Stepping product conveying line ? The conveying line is driven by ABB servo motor, which effectively controls the conveying line speed and the distance of each movement, and supplies the product step by step.
? Through the communication between the robot and the servo system, the synchronous movement of the robot and the conveyor line is ensured, and the robot can track and capture the product.
• The barrier width on the conveyor chain can be adjusted infinitely within the design range and is highly compatible.
Product acceleration conveyor line
• Located at the front end of the stepper product line, the ice cream is delivered at high speed to the stepper product line.
? Accelerate the conveyor line to increase the product spacing on the front conveyor line, so that the product can enter the step conveyor line in turn.
Packing unit advantages:
High production capacity of a single robot up to 400 / min;
Compact structure and high integration The single IRB 360 robot can simultaneously support two stepping barrier lines and occupy a small space, which helps customers save the space;
? Saving investment costs Generally, the same function is required. One step conveyor chain needs to install two servo motors to drive two sets of barriers, and statically grabs the position at the end of the conveyor chain through intermittent operation;
Advanced technology with adjustable flexible conveyor chain step-by-step design, the barrier width on the conveyor chain can be adjusted infinitely, with strong compatibility, adapt to the packing requirements of a variety of products; the opening and closing of the fixture is automatically controlled by the fourth axis of the robot Control, realize the weight of the fixture, and improve the stability of the fixture;
Patent Licensing ABB has a complete and unique patent for all related technologies in this application.