Cnv_AbortTrack Statement

Aborts tracking motion to a conveyor queue point.

Syntax
Cnv_AbortTrack [ stopZheight ]

Parameters

stopZheight: Optional. Real expression that specifies the Z position the robot should move to after aborting the track.

Description
When a motion command to a conveyor queue point is in progress, Cnv_AbortTrack can be executed to abort it.

If stopZHeight is specified, the robot will move up to this value only if the Z axis position at the time of abort is below stopZHeight and will then be decelerated to a stop.

If stopZHeight is omitted, the robot is decelerated to a stop without the depart motion in the Z direction.

Note

This command will only work if the Conveyor Tracking option is active.

See Also
Cnv_RobotConveyor

Cnv_AbortTrack Statement Example

' Task to monitor robot whose part being tracked has gone downstream

Function WatchDownstream

  Robot 1
  Do
    If g_TrackInCycle And Cnv_QueLen(1, CNV_QUELEN_DOWNSTREAM) > 0 Then
      ' Abort tracking for current robot and move robot Z axis to 0
      g_AbortTrackInCycle = TRUE
      Cnv_AbortTrack 0
      g_AbortTrackInCycle = FALSE
    EndIf
    Wait 0.01
  Loop
Fend

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