ID : 5354

TrackInitialize

Function

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.

This command is available in Ver.1.6.* or higher.

Syntax

TrackInitialize Conveyor number,Initializing mode

Guaranteed Entry

Conveyor number

Specifies the conveyor number (1-16) to be used by integer type data.
(If your robot controller is Ver.1.11.* or lower, available conveyor number is 1 or 2.)

Initializing mode

Specifies initializing mode by integer type data.

Controller	Setting value	Description
Master	0	Initializes the tracking buffer of the designated conveyor, then starts trigger detection.
	1	Starts the trigger detection of designated conveyor. (This option is available in Ver.1.12.1 or higher.)
	-1	Stops the trigger detection of designated conveyor.
Slave	0	Disconnect the communication with the master controller, and then establish the connection again.
Slave	-1	This is not supported. An error will occur if it is executed.

Description

Tracking with a single robot

The function initializes the tracking buffer and starts trigger detection.
Tracking with multiple robots

The function operates differently in the master robot and a slave robot when the command is executed to them.
- For the master robot, it initializes the tracking buffer and operates to start trigger detection.
- For a slave robot, it connects the slave robot to the master controller.

Execute the command to all the robots intended to perform the tracking motion before starting the motion.

Attention

This command is dedicated for conveyor and circular tracking.
The command is not executable while the robot is running.
If the command is not executed, the following problems occur.
- The master robot will experience the error [0x81201213: I/O state is not changed] when the TrackSetVision command or the TrackSetSensor command is executed.
- A slave robot may experience delays in processing tracking commands, which affects the cycle time.

Example

Tracking with a single robot or the master controller

'!TITLE "Preparation for conveyor tracking"

  Sub Main 

    ' It initializes the buffer of the conveyor 1 and starts trigger detection of signals from the sensor.
    TrackInitialize 1, 0

  End Sub

Tracking with two robots, using the dual arm control function

'!TITLE "Preparation for conveyor tracking"

  Sub Main 

    ' It initializes the buffer of the conveyor 1, and Robot 0 starts trigger detection of signals from the sensor.
    Robot0.TrackInitialize 1, 0
    ' The slave robot (Robot 1) connects to the master robot (Robot 0).
    Robot1.TrackInitialize 1, 0

  End Sub