TRACKING SETUP SCREEN


TRACKING SETUP SCREEN

Table 1.  Tracking Setup Items

TRACKING SETUP PARAMETERS DESCRIPTION RELATED SYSTEM VARIABLES

Schedule Number

Value: 1 - 6

Default: 1

This item is the schedule number for a tracking program.

N/A

Robot Tracking

GroupValue: 1

Default: 1

This item specifies the robot motion group associated with the current tracking schedule.

$LNSCH.$trk_grp_num

Tracking Type

Value: 0 = LINE

1 = RAIL

2 = CIRC

Default: 0

This item specifies the type of tracking application.

$LNSCH.$trk_type

Visual Tracking

This item indicates whether the vision system will be used as the trigger mechanism.

Only used when the vision system is loaded

Use Vision Part Queue

This item indicates whether the vision system will be used to set up the part queue.

Only used when the vision system is loaded

Use Tracking Uframe

This item indicates whether the tracking Uframe will be used in the current tracking schedule.

$LNSCH.$use_trk_ufm

Nominal Tracking Frame

Value: Position (status)

Default: Uninit.

This item allows you to specify the nominal tracking frame used within Cartesian tracking systems.

$LNSCH.$trk_frame

Track (Ext) Axis Num

Value: 0 - 3

Default: 0

This item specifies the extended axis which will be used for tracking the conveyor within RAIL tracking systems.

$LNSCH.$trk_axs_num

Track Axis Direction

Value: 1 = TRUE (positive direction)

0 = FALSE (negative direction)

Default: 1

This item specifies the normal forward motion of the conveyor by comparing it to the motion of the extended axis.

$LNSCH.$trk_axs_dir

Tracking Encoder

NumValue: 1 or 2

Default: 1

This item specifies the encoder which will be used for all tracking programs that use the current Tracking Schedule Number.

$LNSCH.$trk_enc_num

Encoder Scale Factor(cnt/mm) or (cnt/deg)

Value: -3.0E38 to 3.0E38

Default: 1.0

Must not = 0.0

For line and rail tracking, this item specifies the number of encoder counts per millimeter (counts/mm) of conveyor motion. For circular tracking, this item specifies the number of encoder counts per degree (counts/degree) of conveyor motion.

$LNSCH.$scale

Part Detect Dist./Degrees(mm) or (deg)

Value: Integer

Default: 0

This item allows you to enter the distance (in millimeters for Line and Rail tracking and in degrees for Circular tracking) from the part detect switch to a user-chosen location relative to the robot world frame.

$LNSCH.$teach_dist

Vision Uframe Distance

This item allows you to enter a distance (in millimeters for Line and Rail tracking) from the part detect switch to a location you select where the snap shot of the part is taken.

$LNSCH.$visufm_dist

Trigger INPUT Number

Value: 0 - 256

Default: 0

This item allows you to enter a number to specify the digital input (DI[n] where "n" is a number), which is to be used for the part detect switch input signal.

$LNSCH.$trg_din_num

Trigger Value

(cnts)

Value: Integer

Default: 0 (uninit)

This item displays the value of the encoder count at the time of the last part detect (as stored by the teach pendant SETTRIG instruction).

$LNSCH.$trig_value

Encoder Count

(cnts)

Value: Integer

This item displays the current count value for the specified encoder.

$ENC_STAT.$enc_count

Selected Boundary Set

Value: 1 - 10

Default: 1

This item specifies which of the boundary window sets (pairs of $LNSCH.$BOUND1[n] and $LNSCH.$BOUND2[n]) are used for all position boundary checking, within programs using the current Tracking Schedule Number.

$LNSCH.$sel_bound

Bndry Set n Up

Bndry Set n Dn

Value: -3.0E38 to 3.0E38

Default: 0.0

This item specifies the up-stream (IN-BOUND) location of a boundary window set.

$LNSCH.$bound1[

$LNSCH.$bound2[ ]