ID : 2983

TrackMove S

Function

This enables a robot to execute free curve interpolation motion, while tracking a tracking target work carried by conveyor or turntable.

This can be used when you want to operate other than Pick & Place.

This command is available in Ver.2.2.* or higher.

Syntax

TrackMove S ,reference position,path number[, motion option]

Guaranteed Entry

Reference position: Specify position type data that stands for a tracking target work obtained by "TrackTargetPos".
For a reference position, it is possible to specify position type data that is offset in specified position/attitude from position type data obtained by "TrackTargetPos".
Path number: Designate a path number by integer type data. Target position option can be added to the path number.
Motion option: A motion option can be specified.

Description

With catch-up motion, do the free curve interpolation motion along the path specified path number. The trajectory will be depicted as a smooth curve. The speed of TCP point keeps the constant speed on the curve except the time of acceleration/deceleration.

Attention

This command is dedicated for conveyor and circular tracking.
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 Move S motion that is the robot task motion.
These limits do not affect the catch-up motion.
If a path point of the designated path number does not exist, an error occurs.

Example