6-20
168542-1CD
168542-1CD
MLX200 Software and
Operations
6 Conveyor Tracking
6.7 Developing a Conveyor Tracking Application
Fig.6-21 "Execute Tracked Motions Step" shows the rung that executes
the actual tracked motions. Here three simple linear motions are being
executed.
Fig. 6-21: Execute Tracked Motions Step
Finally, Fig.6-22 "Conveyor Sync Stop Step" shows the Conveyor Sync
Stop step. The Conveyor Sync Stop instruction will turn off conveyor
tracking operations and update the internal object queue (based on the
values of KeepInQueue and NewRobotQueue as detailed in Section
6.7.1.2 “MLxRobotConvSyncStop Instruction”). After the Sts_DN bit is set,
this application also checks if there are any additional objects in the
queue. If the queue is not empty, the application returns immediately to
the Conveyor Sync Start step (Step 30). Otherwise, it returns the Step 20
where the motion to the pounce position is executed.
Fig. 6-22: Conveyor Sync Stop Step
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