Y_MS_ConveyorConfig
The Y_MS_ConveyorConfig function block provides a method to map an AXIS_REF and other relevant conveyor data to a remote hosted robot controller via MotomanSync. This configuration is only necessary if using the MC_TrackConveyorBelt function block or other tracking features.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| V | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| V | ConveyorConfig | Yt_MS_MSync_CONVEYOR_REF_ARRAY | A structure containing data to link the conveyor axis data to data being sent to the remote robot controller. | |
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) It may require several seconds to over a minute for the communication channel to become ready. This function block will remain in the Busy state and report valid once communication is ready. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| B | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Example
This function must be executed to set up the conveyor before executing
MC_TrackConveyorBelt.
Definition of conveyor config is shown below. A servo axis (AXIS5) is mapped to the first conveyor on the in the ConveyorConfig structure as designated by array index 0. The values of the other elements of the structure are application dependent.
- ConveyorConfig[0].AxisRef := AXIS5;
- ConveyorConfig[0].EncoderToMMConversion := REAL#0.0; (The mm per encoder count, 0 means encoder units is in mm)
- ConveyorConfig[0].ManualOffset := REAL#-15.0; (An offset in mm along the x direction of the conveyor. This can be used to offset a constant error along the conveyor)
- ConveyorConfig[0].PointsToAverage := DINT#20; (The number of points to use to calculate a running average of the encoder data. Useful for noisy conveyor data)
- ConveyorConfig[0].PointsToLinearFit := DINT#20; (Unused value is ignored)