For a conveyor reference frame, sets or gets the property that specifies the robot module that is interfaced to the belt encoder and contains the data that defines the conveyor.
refframe_object.ConveyorRobot= <robot_number>
-or-
… refframe_object.ConveyorRobot
Prerequisites
The refframe_object must be a conveyor reference frame.
The Conveyor Tracking software license must be installed on the controller.
Parameters
None
Remarks
Most of the information that a conveyor reference frame computes is derived from the data specified by a conveyor robot. A conveyor robot module defines the interface that is connected to the belt encoder and contains its "nominal" transformation. The nominal transformation defines the direction of travel of the belt and its approximate center point. Since a controller can be interfaced to multiple conveyor belts, the ConveyorRobot property provides the means for associating a reference frame with a particular conveyor belt.
This property must be set before the position of a conveyor reference frame can be accessed.
The robot_number can range for 1 to N, where N is the total number of robots that are configured in a controller.
Examples
Dim belt1 As New RefFrame
Dim loc1 As New Location
belt1.Type = 2 ' Conveyor reference frame
belt1.ConveyorRobot = 2 ' 2nd robot is conveyor
belt1.ConveyorOffset = Robot.WhereAngles(2).Angle(1)
loc1.RefFrame = belt1 ' Zero encoder
loc1.Here ' Test current robot loc
If (loc1.ConveyorLimit(0) <> 0) Then
Console.WriteLine("Out of range")
End If
See Also
RefFrame Class |location_object.ConveyorLimit| refframe_object.ConveyorOffset