ID : 3048

TrackShiftTarget

Function

Change the target position of the tracking motion from Default position to the position specified by Offset value.

This command is available in Ver.2.3.* or higher.

Syntax

TrackShiftTarget Conveyor number, Offset value

Guaranteed Entry

Conveyor number: Specify the conveyor number (1-16) to be used by integer type data.
Offset value: Offset value from the target position of Default in the conveyor coordinates (Conveyor tracking, Circular tracking) is specified by the vector type data. Unit of each element is mm.

Element	Conveyor coordinates	Description
X	X direction	Conveyor vector
Y	Y direction	Vector indicating the width direction of the conveyor
Z	Z direction	Conveyor normal vector

Element	Conveyor coordinates	Description
X	X direction	The tangential direction of turntable at the target position of Default (Turntable's motion direction side)
Y	Y direction	Vector jointing the target position of Default and the center of turntable
Z	Z direction	Conveyor vector

Description

Change the target position of the tracking motion from Default position to the position specified by Offset value.
To execute this command, the task must acquire robot axis control.

Attention

This command is dedicated for conveyor and circular tracking.

Example

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

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

[In case of Circular Tracking]
This exemplifies that a robot moves 5mm to Turntable against the target position of Default and moves the point of 10mm offset towards the vector jointing the target position and the center of turntable, by using TrackMove.