YASKAWA Motoman MLX200 - Mlxrobotconvsyncstop Instruction

6 Conveyor Tracking
6.7 Developing a Conveyor Tracking Application
6-15
168542-1CD
168542-1CD
MLX200 Software and
Operations
 ConveyorTeachPos
The ConveyorTeachPos (analogous to the CTP parameter in INFORM) is
the position along the conveyor where the robot programmed points were
taught with the conveyor stopped.
 UserFrameNumber
The User Frame Number that defines the X-direction of the conveyor.
 .Sts_DN
This output will be asserted once a part has crossed the
ConveyorStartPos.
 .Sts_OL
This output is asserted when a queued object has gone beyond the
MaxStartPosition value.
Fig. 6-13: MLxRobotConvSyncStart Instruction Parameters
6.7.1.2 MLxRobotConvSyncStop Instruction
MLxRobotConvSyncStop is
used to turn off conveyor
synchronization and updates
the internal object queue.
Currently, the
Conveyor0_CurrentValue for
the correct conveyor must be
passed into the AOI. In
addition, there are two
parameters (KeepInQueue
and NewRobotQueue) which
can be used to handle how the
object queue is updated. If
KeepInQueue is set to 0, the
object is flushed from the queue and no longer tracked. In this case, the
value of NewRobotQueue does not matter. If KeepInQueue is set to 1, the
value of NewRobotQueue will move the object to that robot's queue. If
NewRobotQueue is equal to the current robot, the object will be kept in the
current robot's queue and will be the first object in the queue when
another ConvSyncStart is called. This is useful if an application requires
stopping conveyor tracking operations temporarily while still tracking the
same object.
Fig. 6-14: Conveyor Synchronization
Stop Instruction
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