3.7.1 3.7.0 3.6.0 3.5.0 3.4.0 3.3.0 3.2.2 3.2.1 3.2.0 Korean English Chinese Czech Dutch French German Hungarian Italian Japanese Polish Portuguese Spanish
3.7.1 3.7.0 3.6.0 3.5.0 3.4.0 3.3.0 3.2.2 3.2.1 3.2.0 Korean English Chinese Czech Dutch French German Hungarian Italian Japanese Polish Portuguese Spanish
Breadcrumbs

tracking_conveyor()

Definition

tracking_conveyor(conv_id, time=0.3)

Features

The robot starts Conveyor Tracking.

Parameters

Parameter Name

Data Type

Default Value

Description

conv_id

int

-

Conveyor ID

time

float

0.3

Acceleration time(sec) to start Tracking

Note

  1. If the tracking_conveyor command is given, the conveyor starts tracking from the current position of robot. You can call task motion right after tracking_conveyor function for reducing tack time, although transient error can occur during acceleration time.

    image-20250423-064911.png

    [tracking sequence]

  2. This function can be called while the robot is performing a task motion. The robot does not stop and continues the motion in progress. DRL executes commands in order, so to call it while a motion is in progress, use an asynchronous motion (amovel, etc.) or call it from a separate thread.

  3. If this function is called again while the robot is decelerating due to untracking_conveyor, the robot returns to tracking from its current speed without waiting for the deceleration to finish. The speed does not drop to zero and accelerate again. A duplicate call made while the robot is already accelerating or tracking at constant speed is ignored.

Caution

  1. This function can be called only while the robot is stopped or performing a task motion. In any other state, it is rejected with a warning.

  2. During conveyor tracking, compliance control can be used while no task motion is in progress.

  3. Force control cannot be used during conveyor tracking.

  4. Joint velocity clamping and power clamping are not applied during conveyor tracking. If the conveyor speed and the motion speed together exceed the joint velocity limit of the robot, an error occurs and the robot stops. It is recommended to set the conveyor speed and the motion speed with enough margin below the joint velocity limit.

Return

Value

Description

0

Conveyor Tracking success

Negative integer

If the robot is expected to exit the robot work space during acceleration

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C Extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
CONV1 = set_conveyor(‘conveyor1’)

while True:
CONV_COORD_1 = get_conveyor_obj(CONV1)

tracking_conveyor(CONV1) # start moving to track conveyor

# task on conveyor
movel(posx(0,0, 50, 0, 0, 0), ref=CONV_COORD_1)
movel(posx(0,0, 0, 0, 0, 0), ref=CONV_COORD_1)
set_digital_output(DO_GRIPPER, 1)
movel(posx(0,0, 50, 0, 0, 0), ref=CONV_COORD_1)

untracking_conveyor(CONV1)
obj_count = obj_count + 1

Keyword

tracking / conveyor