Deleting Tracking Buffer Data

This section describes the following items.

• The Tracking Buffer Deletion Process by TrackTargetPos
• The Deletion Process for Data of a Workpiece Beyond the Lower End Limit

The Tracking Buffer Deletion Process by TrackTargetPos

Data deleted from tracking buffer will differ depending on the argument specified in TrackTargetPos command.

In the image below, there are five workpieces on the sensor tracing turntable. Workpieces are conveyed from the upstream to the downstream, in the order from the Work 1 to Work 5. Once a workpiece passes through the sensor, data of the workpiece will be recorded in the tracking buffer.

Before Executing TrackTargetPos

Data of the Work 1 to Work 4 are stored in the tracking buffer.

Data on the tracking buffer can be checked by TrackBufferIndexes command.

vIndex = TrackBufferIndexes(1, -1)

Value of vIndex : (1, 2, 3, 4)

After Executing TrackTargetPos(1)

Following workpiece data will be deleted.

• Workpiece data obtained by TrackTargetPos (In this example, work 2)

TrackTargetPos(1) 
vIndex = TrackBufferIndexes(1, -1)

Value of vIndex : (1, 3, 4)

When Tracking Buffer is Retained by TrackTargetPos(1.-1,-1,1)

Data obtained by TrackTargetPos command is retained in the tracking buffer.

To delete data obtained by TrackTargetPos command, use TrackTargetRelease command.

Case1

TrackTargetPos(1, -1, -1, 1) 
vIndex = TrackBufferIndexes(1, -1)

Value of vIndex : (1, 2, 3, 4)

Case2 : Obtaining index Number of the Target Data of TrackTargetPos

TrackTargetPos(1, -1, -1, 1) 
vIndex = TrackBufferIndexes(1, 1)

Value of vIndex : (2)

The Process in Lower Than Ver.2.16.*

TrackTargetPos(1) 
vIndex = TrackBufferIndexes(1, -1)

The Deletion Process for Data of a Workpiece Beyond the Lower End Limit

Executing the following commands deletes data of a workpiece beyond the lower end limit for the most downstream robot.

• TrackSetSensor
• TrackSetVision

More precisely, even if a workpiece goes beyond the lower end limit, the workpiece data is not deleted until it goes beyond a certain range. The range is determined by "Margin Length for Data Holding in buffer", one of conveyor tracking parameters. The range is measured in "degrees" with the initial value 0 degrees.

"Margin Length for Data Holding in buffer" can be set for each conveyor with the available numbers from "Margin Length for Data Holding in buffer(Coveyor#1)" to "Margin Length for Data Holding in buffer(Coveyor#16)" (their parameter numbers ranging from 965 to 980). Set a parameter with the number corresponding to the conveyor to be used.