Conveyor Tracking Commands

All Conveyor Tracking commands begin with the same prefix: “Cnv_”.

Here is a list of all of the commands. For details, refer to Help or the following manual:

"SPEL+ Language Reference"

Command	Description / Usage
Cnv_AbortTrack	Aborts a motion command to a conveyor queue point.
Cnv_Accel function	Sets/ returns acceleration and deceleration of the conveyor.
Cnv_Accel	Sets acceleration and deceleration of the conveyor.
Cnv_AccelLim	Sets limit of acceleration and deceleration after the conveyor tracked.
Cnv_Accel function	Returns limit of acceleration and deceleration after the conveyor tracked.
Cnv_Adjust	Sets whether to retrieve the tracking delay offset of the conveyor.
Cnv_Accel function	Returns the result of the operation of retrieving the tracking delay offset of the conveyor and the offset.
Cnv_AdjustClear	Clears the tracking delay offset of the conveyor.
Cnv_AdjustSet	Sets the tracking delay offset of the conveyor.
Cnv_Downstream function	Returns the downstream limit for the specified conveyor.
Cnv_Downstream	Sets the downstream limit of the conveyor.
Cnv_Fine function	Returns the setting of the range to judge if the tracking motion is completed or not for the specified conveyor.
Cnv_Fine	Sets / returns the value of Cnv_Fine for one conveyor.
Cnv_Flag function	Returns the tracking state for the tracking abort line.
Cnv_Mode function	Returns the conveyor mode setting value.
Cnv_Mode	Sets the conveyor mode setting value.
Cnv_LPulse function	Returns the pulse latched by a conveyor trigger.
Cnv_Name$ function	Returns the name of the specified conveyor.
Cnv_Number function	Returns the number of a conveyor specified by name.
Cnv_OffsetAngle	Sets the angle offset. Usage: This command is available only for the circular conveyor.
Cnv_OffsetAngle function	Returns the offset angle.
Cnv_Point function	Returns a robot point in the specified conveyor's coordinate system derived from sensor coordinates. Usage: Use this function when registering a point in the queue.
Cnv_PosErr function	Returns deviation in current tracking position compared to tracking target.
Cnv_PosErrOffset	Sets an offset value to correct the deviation in current tracking position compared to tracking target.
Cnv_Pulse function	Returns the current position of a conveyor in pulses.
Cnv_QueAdd	Adds a robot point to a conveyor queue. Usage: Use this function when registering a point in the queue.
Cnv_QueGet function	Returns a point from the specified conveyor's queue. Usage: Use this command for robot tracking motion.
Cnv_QueLen function	Returns the number of items in the specified conveyor's queue. Usage: Use this command to keep the robot waiting until the part (queue) enters the tracking area.
Cnv_QueList	Displays a list of items in the specified conveyor's queue.
Cnv_QueMove	Moves data from upstream conveyor queue to downstream conveyor queue. Usage: Use this command for the multi conveyor system.
Cnv_QueReject	Sets / displays the minimum distance to prevent the double conveyors register. See details below. Double Registration Prevention
Cnv_QueReject function	Sets / returns and displays the queue reject distance for a conveyor.
Cnv_QueRemove	Removes items from a conveyor queue.
Cnv_QueUserData	Sets and displays user data associated with a queue entry.
Cnv_QueUserData function	Sets / returns and displays user data associated with a queue entry.
Cnv_RobotConveyor function	Returns the conveyor being tracked by a robot.
Cnv_Speed function	Returns the current speed of a conveyor.
Cnv_Trigger	Latches current conveyor position for the next Cnv_QueAdd statement. Usage: Use this command when using the software trigger.
Cnv_Upstream function	Returns the upstream limit for the specified conveyor.
Cnv_Upstream	Sets the upstream limit of the conveyor.

KEY POINTS

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• To track a part as the conveyor moves, you must use Cnv_QueGet in a motion command statement.

  For example:

  Jump Cnv_QueGet(1)  'this tracks the part
  

  You cannot assign the result from Cnv_Que to a point and then track it by moving to the point.

  P1 = Cnv_QueGet(1)
  Jump P1             'this does not track the part!
  

  When you assign the result from Cnv_QueGet to a point, the coordinate values correspond to the position of the part when the point assignment was executed.

• After pausing the manipulator, the operation command of conveyor tracking cannot be continued. The error 4403 will occur.