Definition
untracking_conveyor(conv_id, time=0.3)
Features
The robot moves as its velocity goes to 0 and finish Conveyor Tracking.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
conv_id |
int |
- |
Conveyor ID |
|
time |
float |
0.3 |
Deceleration time (sec) to end Tracking |
Note
-
If a time value is shorter than the robot’s maximum deceleration speed, the robot ignores the entered value and decelerates using the maximum deceleration speed.
-
To reduce tack-time, deceleration motion is blended with task motion after untracking_conveyor if it is called. (However, Joint motion cannot be called during deceleration time.)
-
This function can be called while the robot is performing a task motion. The robot does not stop and starts the deceleration for ending tracking.
-
If tracking_conveyor is called again during the deceleration, the deceleration stops and the robot returns to tracking from its current speed. Refer to tracking_conveyor() for details.
Return
|
Value |
Description |
|---|---|
|
0 |
Finishing Conveyor Tracking success |
|
Negative integer |
If the robot is expected to exit the robot work space during deceleration |
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
CONV1 = set_conveyor(‘conveyor1’)
while True:
CONV_COORD_1 = get_conveyor_obj(CONV1)
tracking_conveyor(CONV1)
# 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, 0.1)
Related commands
Keyword
untracking / conveyor