TrackSetSensor

Syntax

TrackSetSensor Conveyor number, Number of workpieces [, UserData [, Attribute data]]

Guaranteed Entry

Conveyor number

Specify 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.)

Number of workpieces

Specify the number of workpieces to be stored in the tracking buffer area at a time by integer type data.
If negative value is set, the internal trigger mode, which does not require trigger input from I/O, will be set.
(If your robot controller is Ver.1.11.* or lower, enter an integer of 1 or larger.)

Value	Description
Positive values	Specify the number of workpieces detected by the sensor by positive value. The conveyor encoder value must be stored beforehand by receiving I/O input from the sensor.
0	Error
Negative values	Specify the number of workpieces you want to set based on the internal trigger by negative value. This does not require I/O input from the sensor, and the conveyor encoder value when this command is executed is stored.

UserData

If you set Userdata for workpieces, the workpieces with specified Userdata value can be exclusively taken out from the tracking buffer at the TrackTargetPos execution. The following three data types are available to specify UserData. This is an optional value. This should be "-1" if this is omitted. If minus value is set, it is treated same as when it is omitted.

Data Type	Description
Integer type	Available only when the Number of workpieces is one.
One dimensional array of variant type data	Available when the Number of workpieces is one or more. To enter the value of each element, use integer type data. If the numbers of element is less than Number of workpieces, "-1" will be assigned to the rest of elements.
One dimensional array of integer type data	Available when the Number of workpieces is one or more. To enter the value of each element, use integer type data. If the numbers of element is less than Number of workpieces, "-1" will be assigned to the rest of elements.

 

Attribute data

Attribute value that can be assigned by user to respective workpieces detected. This entry is available in Ver.1.10.* or higher. The following three data types are available to specify Attribute data. This is an optional value. This should be "-1" if this is omitted.

Data Type	Description
Integer type	Available only when the Number of workpieces to detect is one.
One dimensional array of variant type data	Available when the Number of workpieces to detect is one or more. To enter the value of each element, use integer type data. If the numbers of element is less than Number of workpieces to detect, "-1" will be assigned to the rest of elements.
One dimensional array of integer type data	Available when the Number of workpieces to detect is one or more. To enter the value of each element, use integer type data. If the numbers of element is less than Number of workpieces to detect, "-1" will be assigned to the rest of elements.