Manipulator Posture

Manipulator posture during the tracking motion is always the default posture regardless of the posture at the conveyor tracking calibration. To specify the posture for the tracking, write a program as shown in the following example.

Example: tracks the workpiece with Lefty arm position

jump Cnv_Queget(Conveyor number,[Index])/ L

KEY POINTS

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During tracking motion, singularity avoiding function cannot be used. Therefore, set the positions of the Manipulator and the conveyor so that the Manipulator does not pass through the singularity.