PF_Shift
Perform a shift operation.
Syntax
PF_Shift Part ID, Direction [, Duration ]
Parameters
- Part ID
Specify the part ID (integer number from 1 to 32). - Direction
Specifies the direction of shift.
| Direction | Value (defined by PartFeeding.inc) | Work |
|---|---|---|
| Forward | PF_SHIFT_FORWARD |  |
| Forward Left | PF_SHIFT_FORWARD_LEFT |  |
| Forward Right | PF_SHIFT_FORWARD_RIGHT |  |
| Left | PF_SHIFT_LEFT |  |
| Right | PF_SHIFT_RIGHT |  |
| Backward | PF_SHIFT_BACKWARD |  |
| Backward Left | PF_SHIFT_BACKWARD_LEFT |  |
| Backward Right | PF_SHIFT_BACKWARD_RIGHT |  |
- Duration
Specify the hopper operating time. (In milliseconds)
This can be omitted. When omitted, the value in the Calibrate & Test dialog will be used.
Refer to the following for further details.- Shift - Test & Adjust (Simple)
- Shift - Test & Adjust (Advanced)
When integer value is -1, the operation is same as omitted one.
Return values
None
Description
Performs the shifting operation of IF series.
Shifting operation is used in the following cases.
- Move the part closer to the place position to increase the pick and place efficiency of the robot.
- When a using custom platform, dropping parts into slots or holes to make them stand up or align them.
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_Shift 1, PF_SHIFT_FORWARD, 500