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
  }
}