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TrackStart
Function
Starts the tracking mode.
Syntax
TrackStart Conveyor number [, Option setting ]
Guaranteed Entry
- Conveyor number
-
Specify the conveyor number (1 or 2) to be used by integer type data.
- Option setting
-
Option setting consists of two items: Conveyor speed, and Error setting. Both of them are specified for operations in the tracking mode. Specify the desired setting number with integer type data.
This is omittable. This should be "-1" if it is omitted.
As the following table shows, more than one items can be enabled at the same time.
| Setting value | Conveyor speed | Error setting |
|---|---|---|
| 1 | Enabled | - |
| 2 | - | Enabled |
| 3 | Enabled | Enabled |
| -1 | - | - |
The table below shows the functions of each option.
| Option | Setting | Description |
|---|---|---|
| Conveyor speed | Enabled | A robot adjusts its speed along with the speed change of the conveyor after the tracking motion starts. |
| Disabled | A robot keeps the conveyor speed at the tracking motion start, and does not adjust the speed according to the conveyor's speed change after the tracking motion start. | |
| Error setting | Enabled | An error is not issued when a workpiece passes the downstream limit of the tracking range. |
| Disabled | An error is issued when a workpiece passes the downstream limit of the tracking range. |
Description
Start the tracking mode.
Robots do not move just because this command is executed.
To move robots, specify robot motion by using dedicated-commands of TrackApproach, TrackDepart, or TrackMove.
Related Terms
TrackApproach, TrackDepart, TrackMove, TrackStop, TrackTargetPos, Equipment Protection by Area Function, Commands for Conveyor Tracking
Attention
- This is the conveyor tracking operation-dedicated command.
- During the tracking mode, executing Step-start or Teach check mode will result in an error.
- In the END command execution, option settings you have made remain enabled.
- If a power supply turns OFF, option settings you have made remain disabled.
- If option2 setting is enabled, a robot moves across the Downstream limit of the tracking range. Please pay attention to avoid collisions with equipments placed behind the Downstream limit of the tracking range. It is recommended to perform collision check by using Area function to prevent unintended contact between robot and equipments.
Example
TrackStart 1Tracking mode starts with the Option settings (Conveyor speed and the Error setting) disabled.
TrackStart 1, 3Tracking mode starts with the Option settings (Conveyor speed and the Error setting) enabled.