Uniform milliseconds without disengagement from specific robots, controllers, encoder interfaces, communication methods and program cycles. The synchronization delay between the robot and the conveyor line is a total link result, which is usually composed of encoder sampling, input module, field bus, controller task cycle, trajectory interpolation, servo drive and mechanical response. Nor can linear velocity fluctuations unconditionally promise “no deviation at all” because there is sampling, filtering, computation, communication, and mechanical inertia in any system. The correct engineering statement should be that the transmission tracking error, phase error and maximum trajectory deviation meet the agreed limits under the specified line speed, acceleration, load and communication conditions.
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