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ID : 2898
Commands for Circular Tracking
| Commands | Functions |
|---|---|
| TrackAbsApproach | With the catch-up motion, perform a robot task motion that moves a robot arm to the approach position which is apart from the reference position by specified distance. |
| TrackAbsMove | With the catch-up motion, perform a robot task motion that move a robot to the designated target position. |
| TrackApproach | With the catch-up motion, move a robot arm to the approach position that is apart from the tracking target work by specified distance. |
| TrackArrivalTime | Return the estimated execution time in which a tracking target work arrives at the specified limit of the tracking range. |
| TrackBufferDelete | Using an index number obtained by TrackBufferIndexes, delete data of the tracking buffer. |
| TrackBufferIndexes | Take out index numbers of data stored in the tracking buffer, and then return them as an array. |
| TrackBufferRead | From the tracking buffer, read out specified data. |
| TrackBufferSort | Change the sorting order of data within the tracking buffer. |
| TrackConveyorSpd | Obtain the current speed of the conveyor or the turntable. |
| TrackConveyorVector | Obtain the conveyor vector that has been calculated at the conveyor calibration with vector type data. |
| TrackCount | Return the number of data within the tracking buffer. |
| TrackCurBufferSort | Return the currently selected tracking buffer for sorting method of data with a variant type data array. |
| TrackCurMotionRange | Check whether the target position of the robot task motion is within the robot motion range. |
| TrackCurPos | Obtains the current position of the tracking-target work by position type. |
| TrackCurStartArea | Return the currently selected tracking range with a variant type data array. |
| TrackDepart | With the catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate. |
| TrackDraw | With the catch-up motion, move a robot arm from the current position to the specified position with Travel distance. |
| TrackEncoder | Obtain the encoder value of the conveyor or the turntable. |
| TrackInitialize | Initializes the tracking buffer, then starts trigger detection. Executing this command to a slave robot connects it to the master robot when you use the conveyor tracking system with coordinated multiple robots. |
| TrackInRange | Check whether the current position of the tracking-target work is within the tracking range. |
| TrackMinimumIntervalLength | Set a threshold value to prevent the registration of overlapped workpieces. |
| TrackMotionRange | Check whether there is any point entering the robot motion range, on the path of the target position of the robot task motion when the tracking-target work is within the tracking range. |
| TrackMove | With the catch-up motion, move a robot arm to the tracking target work. |
| TrackMove S | This enables a robot to execute free curve interpolation motion, while tracking a tracking target work carried by conveyor or turntable. |
| TrackOffsetMargin | In order to define the tracking start range, specify the offset value from the upstream limit of the tracking range. |
| TrackPrepareData | TrackPrepareData deletes the duplicated data in the tracking buffer among several workpice data detected by a vision sensor, rearranges the workpiece data in order from the most downstream one, and then return the data set. This command deletes duplicated data and rearranges workpiece data before setting the workpiece data in the tracking buffer by TrackSetVision. The return value of this command will be used as arguments of TrackSetVision without any modification. |
| TrackSetSensor | Store workpiece-related data detected by a sensor into tracking buffer. |
| TrackSetVision | Store workpiece-related data detected by a vision sensor into tracking buffer. |
| TrackShiftTarget | Change the target position of the tracking motion from Default position to the position specified by Offset value. |
| TrackStandByPos | Return the coordinates when a tracking-target work piece arrives at the upstream limit of the tracking range. |
| TrackStart | Starts the tracking mode. |
| TrackStartArea | Configures the tracking range. |
| TrackStop | Stops the tracking mode. |
| TrackTargetOffset | Set the value for the "Minimum Interval Length of Work Detection", which is a parameter for the conveyor or circular tracking. |
| TrackTargetPos | Read out workpiece data from the tracking buffer and then set them to the tracking-target work. |
| TrackTargetRelease | Delete data of the tracking target work, or return the data to the tracking buffer. |
ID : 2898