ID : 5494

TrackEncoder

Function

Obtain the encoder value of the conveyor or the turntable.

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

Syntax

TrackEncoder (Conveyor number, Mode)

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.)

Mode

Specifies by integer type data.

Setting value	Description
0	Obtain the encoder value of the currently used conveyor.
1	Obtain the conveyor's encoder value that has been stored at the workpiece detection.

Return Value

Return the encoder value of the conveyor or the turntable by Integer type data.

Mode	Retuen Value
0	Obtain the encoder value of the currently used conveyor.
1	Obtain the conveyor's encoder value that has been stored at the workpiece detection. This error will be issued when a workpiece has not been detected. Even if a workpiece has been detected, an error will be issued when this command is executed after TrackSetSensor or TrackSetVision command execution.

Description

Obtain the encoder value of the conveyor or the turntable.

Attention

This command is dedicated for conveyor and circular tracking.

Example