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.)
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
PY
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)