6 Coordinated control for additional axes
6-112 Additional axis tracking
Trk
【Function】
After Trk ON is executed, the robot goes into the tracking mode and operates while following the conveyer
operation until Trk OFF is executed.
【Format】
Trk On [, <Measurement position data> [, [<Encorder data>][,[<Reference position data>][,[<Encorder
logic number>]]]]]
【Terminology】
【Reference program】
1 P_TrBase P0 ‘ Specify the workpiece coordinate origin at the teaching position.
2 Trk On ' Enable additional tracking.
3 Mvs P2 ' Execute the interpolation operation following workpiece attached to user
mechanisms.
4 Trk Off ' End the tracking operation.
【Explanation】
(1) If additional axis tracking is used (parameter TRMODE is "2"), arguments after Trk On can not be
specified.
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