PF_CenterByShift

Perform centering by shifting.

Syntax
PFCenterByShift Part ID

Parameters

• Part ID
  Specify the part ID (integer number from 1 to 32).

Return values
None

Description
Perform centering by shifting.

The Centering operation is used in the following situations.

• Collect parts in the center before distributing
• Collect parts in the center when hand interferes with platform

When this command is executed, the Part Blob vision sequence is run. The combined center of gravity of all parts on the feeder is calculated. The combined center of gravity is shifted to the center of the feeder.
If the combined center of gravity is already near the center of the feeder then no shifting will be performed.

It cannot be run under the following conditions.

• When executed in a user function:
  The feeder specified in this command (specified by the Part ID) is used in the Part Feeding process (PF_Start command) (Error 7733)
• When executed in a callback function:
  Specified part ID is not set for the PF_Start command (Error 7733)
• When executed from a virtual controller or command window. (Error 2582)

This command uses SyncLock for internal processing. Refer to the following for further details.
Functions used by Part Feeding Process

Examples

PF_CenterByShift 1