6-14
168542-1CD
168542-1CD
MLX200 Software and
Operations
6 Conveyor Tracking
6.7 Developing a Conveyor Tracking Application
6.7 Developing a Conveyor Tracking Application
This section will describe how to develop a conveyor tracking application
using MLX200. The first section will introduce the instructions specific to
Conveyor Tracking. Then, several examples of how to structure a
Conveyor Tracking application are shown. Finally, several potential pitfalls
that can be encountered while using Conveyor Tracking are discussed.
6.7.1 Conveyor Tracking Instructions
MLX200 has 4 instructions related to Conveyor Tracking. Two basic
instructions are provided to turn conveyor tracking on/off:
MLxRobotConvSyncStart
Starts conveyor tracking
MLxRobotConvSyncStop
Stops conveyor tracking
There are also two instructions for blending motion within the sync
commands. These commands are available to assist with increasing pick
rates.
MLxRobotConvSyncStopWithLinearMot
While turning off conveyor tracking operations, blend motion into a linear
path to the next point.
MLxRobotConvSyncStopWithAxisMot
While turning off conveyor tracking operations, blend motion into a joint
path to the next point.
6.7.1.1 MLxRobotConvSyncStart Instruction
MLxRobotConvSyncStart
AOI is used to begin conveyor tracking operations. When called, this AOI
will wait for an object to be added to the queue (this happens
automatically when an object passes the photo eye) and then turn on the
Sts_DN bit.
ConveyorStartPosition
This is the position along the conveyor that the robot will start to track
queued objects. If you are familiar with Motomans INFORM language then
ConveyorStartPos variable is analogous to the STP parameter. Range of
valid values is 0-MaxStartPosition.
Fig. 6-12: Conveyor Synchronization Start Instruction
To Next Page
Loading...
