Conveyor Tracking

Conveyor Parameters

Set Conveyor Parameters

0x4801 TRACK_CONVEYOR_CONVEYORPARAM_SET

Request parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
compensation.encoderVal	double	Tracking compensation encoder value
compensation.time	double	Tracking compensation time
conveyor.encoderDirection	int	Encoder direction: 1-Forward; -1-Reverse
conveyor.encoderResolution	double	Encoder resolution
conveyor.maxEncoderVal	double	Encoder count maximum
conveyor.minEncoderVal	double	Encoder count minimum
conveyor.posRecordMode	int	Conveyor position mode: 0-Encoder; 1-Constant speed setting
conveyor.speed	double	Speed when conveyor position mode is constant speed setting
conveyor.userCoord	int	User coordinate system 1~9
track.height	int	Tracking target height: 0-Sensor sensing; 1-Tracking instruction teaching
track.track_on_run_mode_with_target_overrun	int	Target overrun run mode: 0-Wait for next target; 1-Skip line to tracking end run

json

{
  "compensation": {
    "encoderVal": 66,
    "time": 10.0
  },
  "conveyor": {
    "encoderDirection": 1,
    "encoderResolution": 44.330,
    "maxEncoderVal": 2147483647.0,
    "minEncoderVal": -2147483648.0,
    "posRecordMode": 0,
    "speed": 9.0,
    "userCoord": 4
  },
  "conveyorID": 1,
  "robot": 1,
  "track": {
    "height": 1,
    "track_on_run_mode_with_target_overrun": 1
  }
}

Query Conveyor Parameters

0x4802 TRACK_CONVEYOR_CONVEYORPARAM_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Return Conveyor Parameters

0x4803 TRACK_CONVEYOR_CONVEYORPARAM_RESPOND

Response parameters (field descriptions refer to 0x4801):

json

{
  "compensation": {
    "encoderVal": 88,
    "time": 40.0
  },
  "conveyor": {
    "encoderDirection": -1,
    "encoderResolution": 44.0,
    "encoderValue": 0.0,
    "maxEncoderVal": 2147483612.0,
    "minEncoderVal": -2147483612.0,
    "posRecordMode": 0,
    "speed": 0.0,
    "userCoord": 2
  },
  "conveyorID": 2,
  "robot": 1,
  "track": {
    "height": 0,
    "track_on_run_mode_with_target_overrun": 0
  }
}

Parameter Identification

Set Parameter Identification

0x4804 TRACK_CONVEYOR_POSCHECKPARAM_SET

Request parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
detectSrc.type	int	Workpiece detection signal source: 0-Vision; 1-IO; 2-Global variable
detectSrc.globalVar	string	Active when workpiece detection signal source is 2-Global variable
detectSrc.DI_capturePos	int	Active when workpiece detection signal source is 1-IO
detectSrc.visionID	int	Vision process number
detectSrc.vision_io_filter_type	int	Vision IO signal filter: 0-Signal trigger filter; 1-Signal disappearance filter
detectSrc.vision_latch_encoder_value_type	int	Vision latch encoder value: 0-Trigger latch; 1-Data received latch
identification.communication	int	Vision communication mode: 0-Ethernet; 1-Modbus
identification.sensorTrg	int	Sensor trigger mode: 0-Low level trigger; 1-High level trigger
identification.type	int	Workpiece identification mode: 0-Vision; 1-Sensor

json

{
  "conveyorID": 1,
  "detectSrc": {
    "type": 0,
    "globalVar": "GB018",
    "DI_capturePos": 9,
    "visionID": 3,
    "vision_io_filter_type": 0,
    "vision_latch_encoder_value_type": 1
  },
  "identification": {
    "communication": 1,
    "sensorTrg": 1,
    "type": 0
  },
  "robot": 1
}

Query Workpiece Identification Parameters

0x4805 TRACK_CONVEYOR_POSCHECKPARAM_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Return Workpiece Identification Parameters

0x4806 TRACK_CONVEYOR_POSCHECKPARAM_RESPOND

Data same as 0x4804

Real-time Query

Real-time Query of Encoder Value and Conveyor Speed

0x4807 TRACK_CONVEYOR_REALTIME_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to Real-time Query

0x4808 TRACK_CONVEYOR_REALTIME_RESPOND

Response parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
conveyor.encoderValue	double	Encoder value (int64 type)
conveyor.speed	double	Conveyor speed

json

{
  "conveyor": {
    "encoderValue": 72361.0,
    "speed": 0.0
  },
  "conveyorID": 1,
  "robot": 1
}

Conveyor Coordinate System Calibration

Query User Coordinate System

0x480E TRACK_CONVEYOR_USERCOORD_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to User Coordinate System Query

0x480F TRACK_CONVEYOR_USERCOORD_RESPOND

Response parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
userCoord	int	User coordinate number
userFrame	array	User coordinate system in radians
userFrameDeg	array	User coordinate system in degrees

json

{
  "robot": 1,
  "conveyorID": 1,
  "userCoord": 1,
  "userFrame": [1, 2, 3, 1.1, 1.2, 1.3],
  "userFrameDeg": [1, 2, 3, 90, 90, 90]
}

Calculate User Coordinate System

0x4810 TRACK_CONVEYOR_USERCOORD_CALCULATE

After calibrating 3 times with 0x4811, use 0x4810 to calculate the user coordinate system. It will return 0x3C02{"result":true} to check if calibration is successful

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Calibration Coordinate Acquisition

0x4811 TRACK_CONVEYOR_USERCOORD_CALIBRATION

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
posNum	int	Calibration count (calibrate 3 times: 1, 2, 3)

json

{
  "robot": 1,
  "conveyorID": 1,
  "posNum": 1
}

Query Calibrated Point Coordinates

0x4812 RACK_CONVEYOR_CALIBRATION_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
posNum	int	Query calibration value (1, 2, 3)

json

{
  "robot": 1,
  "conveyorID": 1,
  "posNum": 1
}

Return Calibrated Point Coordinates

0x4813 TRACK_CONVEYOR_CALIBRATION_RESPOND

Response parameters:

Field	Type	Description
posNum	int	Calibration point count
posX	double	x coordinate
posY	double	y coordinate
encodorValue	int	Encoder value (int64 type)

json

{
  "posNum": 1,
  "posX": 1.0,
  "posY": 1.0,
  "encodorValue": 72329
}

Clear Calibration Values

0x4814 TRACK_CONVEYOR_CALIBRATION_CLEAR

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
posNum	int	Calibration point sequence number

Returns 0x4813 format

json

{
  "robot": 1,
  "conveyorID": 1,
  "posNum": 1
}

Cancel Calibration

0x4815 TRACK_CONVEYOR_CALIBRATION_CANCEL

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Sensor Position Calibration

Note: If using vision for workpiece identification, calibration is not needed, skip directly. For sensor, 0x4804 needs to be set to sensor and sensor trigger mode.

Sensor Position Query

0x4816 TRACK_CONVEYOR_SENSORPOS_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to Sensor Position Query

0x4817 TRACK_CONVEYOR_SENSORPOS_RESPOND

Response parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
sensorPos	object	Sensor position in radians
sensorPosDeg	object	Sensor position in degrees

json

{
  "robot": 1,
  "conveyorID": 1,
  "sensorPos": {
    "X": 1.0,
    "Y": 1.0,
    "Z": 1.0,
    "A": 1.0,
    "B": 1.0,
    "C": 1.0
  },
  "sensorPosDeg": {
    "X": 1.0,
    "Y": 1.0,
    "Z": 1.0,
    "A": 90,
    "B": 90,
    "C": 90
  }
}

Sensor Position Start Calibration Query

0x4818 TRACK_CONVEYOR_SENSORPOS_CALIBRATION_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to Sensor Position Calibration Parameter Query

0x4819 TRACK_CONVEYOR_SENSORPOS_CALIBRATION_RESPOND

Response parameters:

Field	Type	Description
sensorCalibration.IO_encodorCircles	int	IO encoder revolutions
sensorCalibration.IO_encodorValue	int	Sensor encoder value (int64 type)
sensorCalibration.IO_time	int	IO time
sensorCalibration.calib_X	double	Calibration point UX
sensorCalibration.calib_Y	double	Calibration point UY
sensorCalibration.calib_encodorCircles	int	Calibration encoder revolutions
sensorCalibration.calib_encodorValue	int	Calibration point encoder value (int64 type)
sensorCalibration.calib_time	int	Calibration time

json

{
  "sensorCalibration": {
    "IO_encodorCircles": 0,
    "IO_encodorValue": 441797,
    "IO_time": 0,
    "calib_X": 16.945789025163,
    "calib_Y": -7.513256884209,
    "calib_encodorCircles": 0,
    "calib_encodorValue": 472018,
    "calib_time": 0
  }
}

Sensor Position Parameter Calibration

0x481A TRACK_CONVEYOR_SENSORPOS_CALIBRATE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

Response returns 0x4819 format

json

{
  "robot": 1,
  "conveyorID": 1
}

Sensor Tracking Grab Posture Parameter Query

0x481C TRACK_CONVEYOR_SENSOR_GRABGESTURE_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to Sensor Tracking Grab Posture Query

0x481D TRACK_CONVEYOR_SENSOR_GRABGESTURE_RESPOND

Response parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
grabGesture	object	Grab posture in radians
grabGesture.Z	double	Grab posture UZ (unit mm)
grabGesture.A	double	UA (unit rad)
grabGesture.B	double	UB (unit rad)
grabGesture.C	double	UC (unit rad)
grabGestureDeg	object	Grab posture in degrees
grabGestureDeg.Z	double	Grab posture (unit mm)
grabGestureDeg.A	double	UA (unit deg)
grabGestureDeg.B	double	UB (unit deg)
grabGestureDeg.C	double	UC (unit deg)

json

{
  "robot": 1,
  "conveyorID": 1,
  "grabGesture": {
    "Z": 1,
    "A": 3.14,
    "B": 3.14,
    "C": 3.14
  },
  "grabGestureDeg": {
    "Z": 1,
    "A": 180,
    "B": 180,
    "C": 180
  }
}

Sensor Tracking Grab Posture Calibration

0x481E TRACK_CONVEYOR_SENSOR_GRABGESTURE_CALIBRATE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

Response returns 0x481D format

json

{
  "robot": 1,
  "conveyorID": 1
}

Clear Calibration Values

0x4820 TRACK_CONVEYOR_SENSORPOS_CALIBRATION_CLEAR

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
type	int	0-Clear sensor position calibration parameters; 1-Clear grab posture parameters

If type is 0: Returns 0x4819
If type is 1: Returns 0x481D

json

{
  "robot": 1,
  "conveyorID": 1,
  "type": 0
}

Cancel Calibration

0x4821 TRACK_CONVEYOR_SENSORPOS_CALIBRATION_CANCEL

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Calculate Sensor Position

0x4822 TRACK_CONVEYOR_SENSORPOS_CALCULATE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

No response return

json

{
  "robot": 1,
  "conveyorID": 1
}

Manually Set Sensor Position Coordinates

0x4823 TRACK_CONVEYOR_SENSORPOS_SET

Request parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
sensorPos	object	Sensor position coordinates

json

{
  "conveyorID": 1,
  "robot": 1,
  "sensorPos": {
    "X": 300.0,
    "Y": 500.0,
    "Z": 0.0,
    "A": 2.0,
    "B": 3.0,
    "C": 1.0
  }
}

Conveyor Tracking Position Parameters

Set Conveyor Tracking Position Parameters

0x4830 TRACK_CONVEYOR_POSITION_SET

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
position.trackStartXPoint	double	Tracking start X point
position.trackRangeXMax	double	Tracking range X maximum
position.trackRangeYMin	double	Tracking range Y minimum
position.trackRangeYMax	double	Tracking range Y maximum
position.trackRangeZMin	double	Tracking range Z minimum
position.trackRangeZMax	double	Tracking range Z maximum
position.receLatestPos	double	Latest receive position

json

{
  "robot": 1,
  "conveyorID": 1,
  "position": {
    "trackStartXPoint": 123.123,
    "trackRangeXMax": 213.213,
    "trackRangeYMin": 132.132,
    "trackRangeYMax": 321.321,
    "trackRangeZMin": 231.231,
    "trackRangeZMax": 312.312,
    "receLatestPos": 123.321
  }
}

Query Conveyor Tracking Position Parameters

0x4831 TRACK_CONVEYOR_POSITION_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Return Conveyor Tracking Position Parameters

0x4832 TRACK_CONVEYOR_POSITION_RESPOND

Note: The returned position parameter includes posToMove which is the 0x4833 calibration point

Response parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
position	object	Position parameter object

json

{
  "conveyorID": 1,
  "position": {
    "posToMove": [
      [460.0, -0.0, 637.0, 3.141592653590, 0.0, 0.0],
      [673.357147963110, 0.0, 636.999999229013, -3.141592653590, -0.000000002140, 0.0],
      [673.357147430654, -18.080268801310, 637.000001461924, 3.141592653455, 0.000000005033, 0.000000000544],
      [673.357149063614, 52.919529211370, 636.999998014958, -3.141592653427, 0.000000002068, -0.000000006378],
      [673.357147022746, 52.919529050977, 624.778829506012, -3.141592653511, 0.000000000996, -0.000000006378],
      [460.000000414210, 0.0, 653.669918424025, -3.141592653590, 0.000000009006, 0.0],
      [504.163633239677, 0.0, 636.999998392068, -3.141592653590, 0.000000009404, 0.0]
    ],
    "receLatestPos": 504.1640,
    "trackRangeXMax": 673.3570,
    "trackRangeYMax": 52.920,
    "trackRangeYMin": -18.080,
    "trackRangeZMax": 653.670,
    "trackRangeZMin": 624.7790,
    "trackStartXPoint": 460.0
  },
  "robot": 1
}

Calibrate Position

0x4833 TRACK_CONVEYOR_POSITION_CALIBRATION

Note: Need to write with 0x4830 to persist

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
type	int	Calibration type

type type description:

type Value	Description
1	Tracking start X point
2	Tracking range X maximum
3	Tracking range Y minimum
4	Tracking range Y maximum
5	Tracking range Z minimum
6	Tracking range Z maximum
7	Latest receive position

json

{
  "robot": 1,
  "conveyorID": 1,
  "type": 1
}

Return Calibrated Position

0x4834 TRACK_CONVEYOR_POSITION_CALIBRATION_RESPOND

Response parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
type	int	Sequence number
value	double	Calibrated x/y/z coordinate value

json

{
  "robot": 1,
  "conveyorID": 1,
  "type": 1,
  "value": 2.33
}

Move to Specified Position

0x4837 TRACK_CONVEYOR_POSITION_TO_MOVE

Note: First 0x4831 then 0x4837

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
type	int	Calibration type (follow 0x4833 description)

json

{
  "robot": 1,
  "conveyorID": 1,
  "type": 1
}

Conveyor Parameter Management

Copy Conveyor Parameters

0x4835 TRACK_CONVEYOR_PARAM_COPY

Request parameters:

Field	Type	Description
robot	int	Robot number
srcConveyorID	int	Source conveyor process number
dstConveyorID	int	Destination conveyor process number

Note: Example is copying from 1 to 2

json

{
  "robot": 1,
  "srcConveyorID": 1,
  "dstConveyorID": 2
}

Clear Conveyor Parameters

0x4836 TRACK_CONVEYOR_PARAM_CLEAR

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Wait Point

Set and Save Wait Point

0x483A TRACK_CONVEYOR_WAITPOINT_SET

Request parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
delayDetectTime	double	Delay detection time (s)
isWait	bool	Whether to go to designated point and wait when no workpiece
pos	array	Cartesian coordinates (Euler angles in radians)

json

{
  "conveyorID": 1,
  "delayDetectTime": 0.50,
  "isWait": false,
  "pos": [
    679.5430,
    -229.9020,
    -25.2720,
    3.14159260,
    0.0,
    0.436454478601
  ],
  "robot": 1
}

Query Wait Point

0x483B TRACK_CONVEYOR_WAITPOINT_INQUIRE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to Query

0x483C TRACK_CONVEYOR_WAITPOINT_RESPOND

Response parameters:

Field	Type	Description
conveyorID	int	Conveyor process number
robot	int	Robot number
delayDetectTime	double	Whether to go to designated point and wait when no workpiece
isWait	bool	Whether to go to designated point and wait when no workpiece
pos	array	Cartesian coordinates (Euler angles in radians)
posDeg	array	Cartesian coordinates (Euler angles in degrees)

json

{
  "conveyorID": 1,
  "delayDetectTime": 2.50,
  "isWait": false,
  "pos": [
    679.5430,
    -209.9020,
    -25.2720,
    3.14159260,
    0.0,
    0.436454478601,
    null
  ],
  "posDeg": [
    679.5430,
    -209.9020,
    -25.2720,
    179.999996929531,
    0.0,
    25.006999573420,
    0.0
  ],
  "robot": 1
}

Calibrate Wait Point

0x483D TRACK_CONVEYOR_WAITPOINT_CALIBRATE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

Response to Calibration

0x483E TRACK_CONVEYOR_WAITPOINT_CALIBRATE_RESPOND

Response parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number
pos	array	Cartesian coordinates (Euler angles in radians)
posDeg	array	Cartesian coordinates (Euler angles in degrees)

json

{
  "robot": 1,
  "conveyorID": 1,
  "pos": [1, 2, 3, 4, 5, 6, 7],
  "posDeg": [1, 2, 3, 4, 5, 6, 7]
}

Move to Wait Point

0x483F TRACK_CONVEYOR_WAITPOINT_CALIBRATE_MOVE

Request parameters:

Field	Type	Description
robot	int	Robot number
conveyorID	int	Conveyor process number

json

{
  "robot": 1,
  "conveyorID": 1
}

🤖 AI assistants / automation: start with the Agent Development Guide and Pre-generation Checklist (Chinese); machine-readable entry: /llms.txt; plain-text version: swap .html for .md in the URL

01.Getting-Started

03.API-Examples

01.Basic

02.Advanced

01.Getting-Started

02.API-Examples

01.Getting-Started

02.API-Examples

01.Basic

02.Advanced

02.Port-6000-Communication

01.Motion-Control

02.State-Control

03.Processes

06.Laser-Cutting

04.Job-Files

05.External-Control

06.Others

01.System

02.Robot

01.Parameters

03.Program

02.Instruction-CRUD

04.Peripherals-Communication

05.Processes

01.Custom-Instructions

01.Teach-Pendant-Impl

02.Controller-Impl

Conveyor Tracking ​

Conveyor Parameters ​

Set Conveyor Parameters ​

Query Conveyor Parameters ​

Return Conveyor Parameters ​

Parameter Identification ​

Set Parameter Identification ​

Query Workpiece Identification Parameters ​

Return Workpiece Identification Parameters ​

Real-time Query ​

Real-time Query of Encoder Value and Conveyor Speed ​

Response to Real-time Query ​

Conveyor Coordinate System Calibration ​

Query User Coordinate System ​

Response to User Coordinate System Query ​

Calculate User Coordinate System ​

Calibration Coordinate Acquisition ​

Query Calibrated Point Coordinates ​

Return Calibrated Point Coordinates ​

Clear Calibration Values ​

Cancel Calibration ​

Sensor Position Calibration ​

Sensor Position Query ​

Response to Sensor Position Query ​

Sensor Position Start Calibration Query ​

Response to Sensor Position Calibration Parameter Query ​

Sensor Position Parameter Calibration ​

Sensor Tracking Grab Posture Parameter Query ​

Response to Sensor Tracking Grab Posture Query ​

Sensor Tracking Grab Posture Calibration ​

Clear Calibration Values ​

Cancel Calibration ​

Calculate Sensor Position ​

Manually Set Sensor Position Coordinates ​

Conveyor Tracking Position Parameters ​

Set Conveyor Tracking Position Parameters ​

Query Conveyor Tracking Position Parameters ​

Return Conveyor Tracking Position Parameters ​

Calibrate Position ​

Return Calibrated Position ​

Move to Specified Position ​

Conveyor Parameter Management ​

Copy Conveyor Parameters ​

Clear Conveyor Parameters ​

Wait Point ​

Set and Save Wait Point ​

Query Wait Point ​

Response to Query ​

Calibrate Wait Point ​

Response to Calibration ​

Move to Wait Point ​

Conveyor Tracking

Conveyor Parameters

Set Conveyor Parameters

Query Conveyor Parameters

Return Conveyor Parameters

Parameter Identification

Set Parameter Identification

Query Workpiece Identification Parameters

Return Workpiece Identification Parameters

Real-time Query

Real-time Query of Encoder Value and Conveyor Speed

Response to Real-time Query

Conveyor Coordinate System Calibration

Query User Coordinate System

Response to User Coordinate System Query

Calculate User Coordinate System

Calibration Coordinate Acquisition

Query Calibrated Point Coordinates

Return Calibrated Point Coordinates

Clear Calibration Values

Cancel Calibration

Sensor Position Calibration

Sensor Position Query

Response to Sensor Position Query

Sensor Position Start Calibration Query

Response to Sensor Position Calibration Parameter Query

Sensor Position Parameter Calibration

Sensor Tracking Grab Posture Parameter Query

Response to Sensor Tracking Grab Posture Query

Sensor Tracking Grab Posture Calibration

Clear Calibration Values

Cancel Calibration

Calculate Sensor Position

Manually Set Sensor Position Coordinates

Conveyor Tracking Position Parameters

Set Conveyor Tracking Position Parameters

Query Conveyor Tracking Position Parameters

Return Conveyor Tracking Position Parameters

Calibrate Position

Return Calibrated Position

Move to Specified Position

Conveyor Parameter Management

Copy Conveyor Parameters

Clear Conveyor Parameters

Wait Point

Set and Save Wait Point

Query Wait Point

Response to Query

Calibrate Wait Point

Response to Calibration

Move to Wait Point