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[ ]
|