Conveyor Tracking Behavior

The Default Tracking Behavior defines the kind of default disturbance rejection during tracking. A disturbance may be an unexpected impulse or a conveyor indexing movement.

mcTrackingBehaviorDynLimited

Velocity synchronization to the ConveyorBelt is maintained using the given Acceleration, Deceleration and Jerk.
Relevant when disturbances are not known precisely or disturbance dynamics are significant.
Dynamic limits are input to the MC_TrackConveyorBelt function block. The values from the Conveyor Tracking Object will be used when MC_Default is input to the function block. When the conveyor indexes, the response will be limited by the dynamic parameters.
When the DynLimited setting is used, the response is compensated with the jerk limit. The function block output MC_TrackConveyorBelt.InSync indicates when there is synchronization.

InSync Using the mcTrackingBehaviorDynLimited operation mode the InSync = TRUE output may disappear when the synchronized position has been lost. Staying within the parameterized dynamics the algorithm tries to return to the synchronized position on its own. When the synchronized position has been reached the InSync = TRUE output appears, again.

mcTrackingBehaviorStayInSync

Velocity synchronization to the ConveyorBelt is maintained with non-limited Acceleration, Deceleration and Jerk.
When the conveyor indexes, the tracking response will not be limited. Rather, the tracking response intends to remain synchronized and follow the conveyor unconditionally. The function block output MC_TrackConveyorBelt.InSync indicates when there is synchronization.

InSync Using the mcTrackingBehaviorStayInSync operation mode when the InSync signal has once become TRUE, it stays TRUE as long as the command is active.