Confirmation of the Calibration Result

This section describes how to check the calibration result; obtain the current position of a work-piece by TrackCurPos command, move the robot manually by variables, check that the robot arm moves to the teaching position above the work-piece at the calibration.

Procedure of the Calibration Result

The sample program below confirms that the robot arm moves above the workpiece; execute the program to provide workpieces from the upstream of the sensor, stop the workpieces between the upstream limit and the downstream limit of the tracking, turn on IO[128] to stop the program, move to P[13] by variables

1

Execute the program below.

'TITLE "Get and evaluate the current position by conveyor tracking commands"

Sub Main

	Takearm Keep = 0
    
	Trackinitialize 1,0	
    
	Wait IO[48] = OFF		'Move the turntable to pass 
					'the workpiece through the sensor.
	Wait IO[48]			'IO[48]:Number of the sensor IO   
    
	TrackSetSensor 1,1,2
    
	P[10] = TrackTargetPos(1)
    	
	'Move the turntable to stop the workpiece between 
	'the upstream limit and the downstream limit.
    
	Wait IO[128] = OFF		'Get the current position of 
	Wait IO[128]			'the workpiece at the timing of 
					'turning on the dummy IO[128]
			
	
	P[13] = TrackCurPos(1)		'The current position of 
					'the workpiece is stored in P[13].  
    
End sub

2

Turn on the dummy IO[128].

3

Move to P[13] by variables. Check that the robot arm moves above the work-piece.