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