Target Position Adjustment and Relative Motion of Conveyor Tracking

When adjust the target position or execute the relative motion while the conveyor tracking is operating, specify the offset value with the command of TrackShiftTarget or TrackDraw. This offset value at that time can be specified in the conveyor coordinates.

Conveyor Coordinates

In case of Conveyor Tracking, the coordinates can be defined as shown below.

X axis, Y axis and Z axis are defined as follows:

Axis	Definition
X axis	Conveyor vector
Y axis	Vector indicating the width direction of the conveyor
Z axis	Conveyor normal vector

Target Position Adjustment

When adjust the target position in the tracking motion as shown below, use the TrackShiftTarget command.

Programming Example

P10 = TrackTargetPos(1)
TrackShiftTarget 1, V(5, 10, 0)
TrackMove P, P10

This exemplifies that a robot moves 5mm to Conveyor vector against the target position of Default and 10mm offset point towards the width direction of the conveyor, by using TrackMove.

Relative Motion

When execute the relative motion in the tracking motion as shown below, use the TrackDraw command.

Programming Example

P10 = TrackTargetPos(1)
TrackMove P, P10
TrackDraw P, V(5, 0, 0)
TrackDraw P, V(0, 10, 0)

This exemplifies that a robot moves the target position of Default by using TrackMove and moves 5mm to Conveyor vector by using TrackDraw. Then the robot moves 10mm offset point towards the width direction of the conveyor by using TrackDraw.