ID : 3049

TrackDraw

Function

With the catch-up motion, move a robot arm from the current position to the specified position with Travel distance.

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

Syntax

TrackDraw motion interpolation, travel distance[, motion option]

Guaranteed Entry

Motion interpolation: Designate a motion interpolation method: "P"/"PTP" for PTP interpolation motion, or "L" for CP interpolation motion.
Travel distance: Designate the relative travel distance from the current position by vector type data. Target position option can be specified.Unit of each element is mm.
Motion option: A motion option can be specified.

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 current position (Turntable s motion direction side)
Y	Y direction	Vector jointing the current position and the center of turntable
Z	Z direction	Conveyor vector

Description

With the catch-up motion, move a robot arm from the current position to the specified position with Travel distance.
To execute this command, the task must acquire robot axis control.

Attention

This command is dedicated for conveyor and circular tracking.
This command is available only when it is written between TrackStart and TrackStop.
Note that the external speed limit and internal speed limit only affect "Draw " motion that is the robot task motion.
These limits do not affect the catch-up motion.

Example

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

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

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