Tracking a workpiece on the conveyor

Description

The function block KRC_ConvFollow enables the robot to follow a workpiece on the conveyor. KRC_ConvFollow can be used to define a range on the conveyor in which the robot starts to track the workpiece.

If the workpiece has already exceeded the maximum conveyor distance (input MaxDistance) when the function block is called, the output MaxDistanceReached is set.

	This function block can only be executed if the AMI has been activated using KRC_ConvOn.

Tracking a workpiece on the conveyor 2: — Function block KRC_ConvFollow

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	Starts/buffers the motion in the case of a rising edge of the signal.
ConveyorNumber	INT	Number of the conveyor 1 … 3
StartDistance	REAL	Distance traveled by the workpiece while the robot waits before starting to track the workpiece on the conveyor. In the case of a linear conveyor: Specification in millimeters In the case of a circular conveyor: Specification in degrees
MaxDistance	REAL	Maximum distance traveled by the workpiece before the robot starts to synchronize itself with the workpiece. In the case of a linear conveyor: Specification in millimeters In the case of a circular conveyor: Specification in degrees Note: This input is not monitored during synchronized motions of the conveyor. The distance covered by the workpiece is monitored by an interrupt. The corresponding settings are made in WorkVisual.
BufferMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> BufferMode)

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement is currently being transferred or has already been transferred
Active	BOOL	TRUE = statement is currently being executed
Done	BOOL	TRUE = statement has been executed
Aborted	BOOL	TRUE = statement has been aborted
MaxDistanceReached	BOOL	TRUE = the maximum distance traveled by the workpiece (input MaxDistance) was already exceeded at the time of execution. The statement was not executed. Execution of the program is stopped (WAIT FOR FALSE) and is waiting for the program to be aborted.
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number