6 Conveyor Tracking
6.7 Developing a Conveyor Tracking Application
6-25
168542-1CD
168542-1CD
MLX200 Software and
Operations
Fig. 6-28: Basic Conveyor Program Structure
STS_OL USAGE
The MLxRobotConvSyncStart command has a status bit called Sts_OL
that turns on if the part is past its MaxStartPosition when the instruction is
called. It is then up to the application logic how to handle this scenario
(e.g. continue to try to track the part anyway, or abort the system, or skip
the part, etc). The most common scenario will be to skip the part and
record that a part was missed. In this case, a Conveyor Sync Stop
command should be executed to flush the part from the queue. An
example of this ladder code is shown in Fig.6-29 "Example Use of Sts_OL
Bit" Example Use of Sts_OL bit.
Note that an MLxRobotConvSyncStopWithAxisMot or WithLinearMotion
will always attach a motion after the stop. However, in the case of a
Sts_OL bit, the application should only update the queue/turn off conveyor
synchronization. Thus, in this case, a normal MLxRobotConvSyncStop
should be called to prevent an unwanted motion from being added to the
queue. Thus, it may be useful to have both a regular SyncStop and a
SyncStopWithMotion in the application.
Fig. 6-29: Example Use of Sts_OL Bit
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