MC_TrackConveyorBelt

This FB serves to synchronise a kinematics with a conveying belt. This enables tools to be taken from or put on a moving conveying belt. For this purpose, the FB calculates a dynamic Product Coordinate System (PCS) after the call. If a motion-controlled FB (e.g. MC_MoveLinearAbsolute ) is now called in the same coordinate system, the FB synchronises the motion with the moved PCS.

Note!

Synchronisation with a conveying belt can only be implemented using Cartesian motion commands (e.g. MC_MoveLinearAbsolute, MC_MoveCircularAbsolute, ...). Single-axis commands or MC_MoveDirect movements cannot be combined with tracking.

		MC_TrackConveyorBelt
AXES_GROUP_KIN	-	AxesGroup	Done	-	BOOL
AXES_REF	-	ConveyorBelt	Busy	-	BOOL
BOOL	-	Execute	Active	-	BOOL
BOOL	-	Abort	CommandAborted	-	BOOL
ARRAY[1..12] OF LREAL	-	ConveyorBeltOrigin	Error	-	BOOL
ARRAY[1..12] OF LREAL	-	InitialObjectPosition	ErrorID	-	L_IE1P_Error
L_MC4P_CoordSystem	-	CoordSystem	InSync	-	BOOL
L_MC4P_CoordType	-	CoordType	DynPCSSet	-	BOOL
LREAL	-	ClutchDistance
LREAL	-	ClutchTime
LREAL	-	ClutchTimeAbort
BOOL	-	SetDynPCS

Inputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_KIN	axes group reference
ConveyorBelt AXIS_REF	Axis reference
Execute BOOL	FALSE ä TRUE	Start processing.
Abort BOOL	FALSE ä TRUE	Current processing is aborted and the axes group is declutched. For declutching, the time set at the ClutchTimeAbort input is used.
ConveyorBeltOrigin ARRAY [1..6] OF LREAL	Position and direction of the belt conveyor coordinate system (KS) from the view of the WCS.
InitialObjectPosition ARRAY [1..6] OF LREAL	Position and direction of the dynamic PCS at the time Execute = FALSE ä TRUE The position has to be given in the coordinate system of the belt conveyor.
CoordSystem L_MC4P_CoordSystem	Selection of the PCS coordinate system to be used: PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)
CoordType L_MC4P_CoordType	Type of the PCS to be created: Cartesian: Cartesian coordinates Cylindric: Cylindrical coordinates
ClutchDistance LREAL	Clutch-in and declutch path in [unit] Distance, the master covers until the clutch-in/declutch process is completed.
ClutchTime LREAL	Clutch and declutch time in [s] Time until clutching-in and decoupling are completed. The value is only used if ClutchDistance = 0.
ClutchTimeAbort LREAL	Declutch time in [s] Declutch time in case tracking is aborted via the Abort input. Note: If no value is entered, i.e. ClutchTimeAbort = 0, the value from ClutchTime is accepted.
SetDynPCS BOOL	FALSE ä TRUE	Delayed setting of the PCS compared to Execute .

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

ConveyorBelt

AXIS_REF

Axis reference

Execute

BOOL

FALSE ä TRUE

Start processing.

Abort

BOOL

FALSE ä TRUE

Current processing is aborted and the axes group is declutched. For declutching, the time set at the ClutchTimeAbort input is used.

ConveyorBeltOrigin

ARRAY [1..6] OF LREAL

Position and direction of the belt conveyor coordinate system (KS) from the view of the WCS.

InitialObjectPosition

ARRAY [1..6] OF LREAL

Position and direction of the dynamic PCS at the time Execute = FALSE ä TRUE

The position has to be given in the coordinate system of the belt conveyor.

CoordSystem

L_MC4P_CoordSystem

Selection of the PCS coordinate system to be used:

PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

CoordType

L_MC4P_CoordType

Type of the PCS to be created:

Cartesian: Cartesian coordinates

Cylindric: Cylindrical coordinates

ClutchDistance

LREAL

Clutch-in and declutch path in [unit]

Distance, the master covers until the clutch-in/declutch process is completed.

ClutchTime

LREAL

Clutch and declutch time in [s]

Time until clutching-in and decoupling are completed.

The value is only used if ClutchDistance = 0.

ClutchTimeAbort

LREAL

Declutch time in [s]

Declutch time in case tracking is aborted via the Abort input.

Note:

If no value is entered, i.e. ClutchTimeAbort = 0, the value from ClutchTime is accepted.

SetDynPCS

BOOL

FALSE ä TRUE

Delayed setting of the PCS compared to Execute .

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Processing successfully completed.
Busy BOOL	TRUE	Processing is running. The dynamic PCS is calculated cyclically. The FB is ready to synchronise a movement instructed by MC_Move... .
Active BOOL	TRUE	The FB is currently being executed and superimposes a movement instructed by MC_Move... .
CommandAborted BOOL	TRUE	The command was aborted by another FB. For example, by accessing the PCS used with the FB MC_SetCoordinateTransform .
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.
InSync BOOL	TRUE	Kinematics moves synchronously with the conveying belt.
DynPCSSet BOOL	TRUE	Dynamic PCS is set and can be used.

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