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TrackDepart
Function
With the conveyor catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate.
Syntax
TrackDepart motion interpolation, depart length[, motion option]
Guaranteed Entry
- Motion interpolation
- Designate a motion interpolation method: "P"/"PTP" for PTP interpolation motion, or "L" for CP interpolation motion.
- Depart length
- Designate an depart length by single precision real number type data. Target position option can be added to the depart length.
- Motion option
- A motion option can be specified.
Description
With the conveyor catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate.
Related Terms
Depart, TrackApproach, TrackMove, TrackStart, TrackStop, TrackTargetOffset, TrackTargetPos, Commands for Conveyor Tracking
Attention
- This is the conveyor tracking operation-dedicated command.
- 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 "Depart" motion that is the robot task motion.
These limits do not affect the conveyor catch-up motion.
Example
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