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
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.
[tracking sequence]
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
PY
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