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168542-1CD
168542-1CD
MLX200 Software and
Operations
6 Conveyor Tracking
6.7 Developing a Conveyor Tracking Application
6.7.1.3 MLxRobotConvSyncStopWithLinearMot Instruction
MLxRobotConvSyncStopWi
thLinearMot is basically a
combination of a Linear
Motion and a Conveyor
Sync Stop. This instruction
will turn off conveyor
tracking operations and
update the object queue like
a normal Conveyor Stop;
however, instead of
stopping the robot motion, it
will instead blend directly
into a linear motion at
another target. This can
help decrease cycle times in
demanding applications.
The rest of the parameters
for the Linear Motion are
identical to a normal motion
instruction. The Blend
Factor in this case will be
used to blend into any motions that are added to the back of the
command.
6.7.1.4 MLxRobotConvSyncStopWithAxisMot Instruction
MLxRobotConvSyncStopWit
hAxisMot is basically a
combination of a Linear
Motion with a Conveyor Sync
Stop. This instruction will turn
off conveyor tracking
operations and update the
object queue like a normal
Conveyor Stop; however,
instead of stopping the robot
motion, it will instead blend
directly into a PTP motion at
another target. This can help
decrease cycle times in
demanding applications. The
rest of the parameters for the
Axis Motion are identical to a
normal motion instruction.
The Blend Factor in this case will be used to blend into any motions that
are added to the back of the command.
Fig. 6-15: Conveyor Synchronization Stop
Followed by a Linear Move Instruction
Fig. 6-16: Conveyor Synchronization Stop
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