ID : 5753

Tracking

Commands	Functions
TrackAbsApproach	With the catch-up motion, perform a robot task motion that moves a robot arm to the approach position which is apart from the reference position by specified distance.
TrackAbsMove	With the catch-up motion, perform a robot task motion that move a robot to the designated target position.
TrackAbsMove S	With the catch-up motion, perform a robot task motion of free curve interpolation where a robot passes through designated path points.
TrackApproach	With the catch-up motion, move a robot arm to the approach position that is apart from the tracking target work by specified distance.
TrackArrivalTime	Return the estimated execution time in which a tracking target work arrives at the specified limit of the tracking range.
TrackBufferDelete	Using an index number obtained by TrackBufferIndexes, delete data of the tracking buffer.
TrackBufferIndexes	Take out index numbers of data stored in the tracking buffer, and then return them as an array.
TrackBufferRead	From the tracking buffer, read out specified data.
TrackBufferSort	Change the sorting order of data within the tracking buffer.
TrackConveyorSpd	Obtain the current speed of the conveyor or the turntable.
TrackConveyorVector	Obtain the conveyor vector that has been calculated at the conveyor calibration with vector type data.
TrackCount	Return the number of data within the tracking buffer.
TrackCurBufferSort	Return the currently selected tracking buffer for sorting method of data with a variant type data array.
TrackCurMotionRange	Check whether the target position of the robot task motion is within the robot motion range.
TrackCurPos	Obtains the current position of the tracking-target work by position type.
TrackCurStartArea	Return the currently selected tracking range with a variant type data array.
TrackDepart	With the catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate.
TrackDraw	With the catch-up motion, move a robot arm from the current position to the specified position with Travel distance.
TrackEncoder	Obtain the encoder value of the conveyor or the turntable.
TrackInitialize	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.
TrackInRange	Check whether the current position of the tracking-target work is within the tracking range.
TrackMinimumIntervalLength	Set a threshold value to prevent the registration of overlapped workpieces.
TrackMotionRange	Check whether there is any point entering the robot motion range, on the path of the target position of the robot task motion when the tracking-target work is within the tracking range.
TrackMove	With the catch-up motion, move a robot arm to the tracking target work.
TrackMove S	This enables a robot to execute free curve interpolation motion, while tracking a tracking target work carried by conveyor or turntable.
TrackOffsetMargin	In order to define the tracking start range, specify the offset value from the upstream limit of the tracking range.
TrackPrepareData	TrackPrepareData deletes the duplicated data in the tracking buffer among several workpice data detected by a vision sensor, rearranges the workpiece data in order from the most downstream one, and then return the data set. This command deletes duplicated data and rearranges workpiece data before setting the workpiece data in the tracking buffer by TrackSetVision. The return value of this command will be used as arguments of TrackSetVision without any modification.
TrackSetSensor	Store workpiece-related data detected by a sensor into tracking buffer.
TrackSetVision	Store workpiece-related data detected by a vision sensor into tracking buffer.
TrackShiftTarget	Change the target position of the tracking motion from Default position to the position specified by Offset value.
TrackStandByPos	Return the coordinates when a tracking-target work piece arrives at the upstream limit of the tracking range.
TrackStart	Starts the tracking mode.
TrackStartArea	Configures the tracking range.
TrackStop	Stops the tracking mode.
TrackTargetOffset	Set the value for the "Minimum Interval Length of Work Detection", which is a parameter for the conveyor or circular tracking.
TrackTargetPos	Read out workpiece data from the tracking buffer and then set them to the tracking-target work.
TrackTargetRelease	Delete data of the tracking target work, or return the data to the tracking buffer.

ID : 5753

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