Program

If the tracking abort line is configured, the error 4406 does not occur. When you set the tracking abort line, use Cnv_Flag as in the following program. Do not use this program when the abort line is not used.

KEY POINTS

---

• Use the program 2 after the downstream limit is configured in the program 1 and Cnv_Flag do not return 2 and 3.
• When using the program 1, the robot can operate without an error even though the downstream setting is not adequate since the robot aborts the tracking motion. However, abort of tracking increases the cycle time. It is recommended to adjust the downstream line if you are using the program 1.

Program 1

Function RB1
  'Moves to the waiting position P0
  Jump P0
  Do
    'Waits until the workpiece passes the upstream limit
    Wait Cnv_QueLen(1, CNV_QUELEN_PICKUPAREA) > 0
    Jump Cnv_QueGet(1)          'Executes the command to operate conveyor tracking

    'When the state is normal, operates the picking
   If Cnv_Flag(1) = 0 Then
       On Vacuum1               'Vacuum ON
       Wait 0.1

       'If the workpiece crosses the tracking abort line during picking, causing tracking to stop,
       release the pickup-failed workpiece.
       If Cnv_Flag(1) = 3 Then
          Jump P2               'Moves to the position to release the pickup-failed workpiece
          Off Vacuum1           'Releases the workpiece
          Wait 0.1
          Jump P0               'Moves to the waiting position P0

       'The picked workpiece is moved to the placing position P1
       Else
          Cnv_QueRemove 1, 0    'Deletes the picked queue
          Jump P1               'Moves to the position to release the workpiece
          Off Vacuum1           'Releases the workpiece
          Wait 0.1
       EndIf


'If the operation is canceled because it is expected to cross the tracking abort line, the queue is deleted.
    ElseIf Cnv_Flag(1) = 1 Then
       Cnv_QueRemove 1, 0       'Deletes the queue data


'If the operation is canceled because the workpiece at the time of executing ' the operation command is outside the Pickup Area, the queue is deleted.

    ElseIf Cnv_Flag(1) = 4 Then
       Cnv_QueRemove 1, 0       'Deletes the queue data

    'If the tracking motion is aborted since the workpiece passed the tracking abort line,
    'the queue is deleted.
    ElseIf Cnv_Flag(1) = 2 Then
       Cnv_QueRemove 1, 0       'Deletes the queue data
       Jump P0                  'Moves to the waiting position P0
    EndIf
  Loop
Fend

Program 2

Function RB1

  'Moves to the waiting position P0
  Jump P0
  Do
    'Waits until the workpiece passes the upstream limit
    Wait Cnv_QueLen(1, CNV_QUELEN_PICKUPAREA) > 0
    Jump Cnv_QueGet(1)             'Starts tracking

'When the state is normal, operates the picking
    If Cnv_Flag(1) = 0 Then
       On Vacuum1              'Vacuum ON
       Wait 0.1
       Cnv_QueRemove 1, 0    'Deletes the picked queue
       Jump P1                 'Moves to the position to release the workpiece
       Off Vacuum1             'Releases the workpiece
       Wait 0.1

'If the operation is canceled because it is expected to cross the tracking abort line, the queue is deleted.
ElseIf Cnv_Flag(1) = 1 Then
       Cnv_QueRemove 1, 0       'Deletes the queue data

    'If the operation is canceled because the workpiece at the time of executing
    'the operation command is outside the Pickup Area, the queue is deleted.
    ElseIf Cnv_Flag(1) = 4 Then
       Cnv_QueRemove 1, 0       'Deletes the queue data
    EndIf
  Loop
Fend