Abort Tracking

There are some situations when you want to abort tracking a part that moves out of the Pickup Area while the robot is tracking the part. In this case, use the Cnv_AbortTrack command in a separate task that monitors the conveyor queue.

Function MonitorDownstream
  Robot 1
  Do
    If Cnv_QueLen(1, CNV_QUELEN_DOWNSTREAM) > 0 Then
      Cnv_AbortTrack 0
    EndIf
    Wait .1
  Loop
Fend

KEY POINTS

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• If you want to automatically interrupt tracking, please use the tracking abort line. See details below.

  Tracking Abort Line

• For details on programs when using the tracking abort line, see below.

  • How to check the tracking abort state
  • Program