ID : 5351

TrackArrivalTime

Function

Return the estimated execution time in which a tracking target work arrives at the specified limit of the tracking range.

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

Syntax

TrackArrivalTime (Conveyor number [, Specify upstream limit/downstream limit[, Offset value]])

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.)
Specify upstream limit/downstream limit: Specify attribute by integer type. This is an optional value. This should be "0"(upstream limit) if the value is omitted. This should be the downstream limit if "-1" is specified.
Offset value: Specify the offset distance by double-precision real number. Unit is "mm".
Specifying positive values will offset in the conveyor vector direction, and specifying negative values will offset in the opposite of the conveyor vector direction.
Offset value is the distance from the datum point on the workpiece that have been determined at the conveyor calibration.
This value determines a point on the workpiece that is used to determine whether the workpiece exists within the tracking range.
If the offset value is "0", the workpiece is judged as "within the tracking range" when the said datum point is located in the tracking range.
This is omittable. This should be "0" if it is omitted. This entry is available in Ver.1.10.* or higher.

Return Value

Return the time in which a work piece arrives at the upstream limit and the downstream limit of the tracking range with double-precision real number data. Unit is millisecond.
Return value will be "0" in one of the following conditions:
- if the target workpiece has already passed through the upstream limit of the tracking start position when upstream limit is specified,
- if the target workpiece has already passed through the downstream limit of the tracking start position when upstream limit is specified.

Description

This command returns the estimated execution time in which a tracking target work specified by TrackTargetPos arrives at the specified upstream/downstream limit of the tracking range.

Attention

This command is dedicated for conveyor and circular tracking.

Example

This program will branch the processing according to the time of the tracking target work of arriving at the downstream limit of the tracking range.

Dim restTime As Double
restTime = TrackArrivalTime(1, -1)
If (restTime > 500) Then
  ' Tracking is available
  ' Continue the catch-up motion
  ' TrackMove P, P[10]
Else

  ' Tracking is not available
  ' End of tracking
  ' TrackStop 1
End If