6 Conveyor Tracking
6.7 Developing a Conveyor Tracking Application
6-17
168542-1CD
168542-1CD
MLX200 Software and
Operations
6.7.2 Programming Structure for a Conveyor Tracking Application in
Ladder
The following sections will describe the basic methodology to program a
conveyor tracking application.
6.7.2.1 Program Structure Overview
Fig.6-17 "Basic Program Structure for a Conveyor Tracking Application"
shows the basic structure of a simple Conveyor Tracking program. On
Step 10, an Axis Motion (e.g. MLxRobotMoveAxisAbsolute) is used to
move the robot to its “pounce” position. This is the position from which the
robot will wait to start tracking objects. After this motion is complete, Step
20 will wait at an MLxRobotConvSyncStart command until a part crosses
the photo eye and moves past the defined ConveyorStartPosition. After
this happens, the program will move to Step 30 where the linear motions
to the taught points relative to the part are executed while tracking the
moving part. When these motions are complete, Step 40 will call an
MlxRobotConvSyncStop command which will stop the tracking action and
also remove the part from the queue.
Fig. 6-17: Basic Program Structure for a Conveyor Tracking Application
The ConvSyncStop on Step 40 could also be replaced with a
ConvSyncStopWithAxisMotor or ConvSyncStopWithLinearMot to allow
smooth blending out of the conveyor tracking operations.
Only linear moves are supported when conveyor tracking is
on. A call any other type of motion will result in an error.
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