The integrated tracking function allows the programming of motion relative to a movable product coordinate system. Tracking makes sure that the motion of the product is overlapped automatically with the motion relative to the product. In simple cases, the product is located on and moves with a conveyor belt or rotary table. However, it is also possible that the product is moved by a second robot.
Use the function block MC_SetDynCoordTransform for coupling two axis groups by means of a dynamic coordinate system. Tracking is performed in addition to a motion in a dynamically configured coordinate system. This remains active after the motion of the coordinate system has been terminated. It is terminated only after a command has been executed for a following motion in a non-dynamic coordinate system.
Because using an axis group as a master is not always ideal, CODESYS provides the additional generic block MC_SetDynCoordTransformEx. This block has the same interface as MC_SetDynCoordTransform, except for the Master input.
The Master input has the SMC_IDynamicCS interface type. This interface includes the GetPose method that calculates the estimated position at the defined time.
See also
For CP motion, the axis group necessarily follows a path. If it cannot follow the path, then it issues the error SMC_AXIS_GROUP_CPTR_CANNOT_FOLLOW and stops all axes.
The following actions are appropriate for avoiding this error:
Reduce the velocity and acceleration of CP tracking motion.
Reduce the axis velocities and accelerations at the position where CP tracking begins.
Add PTP tracking motion at the starting point of CP motion if the last was commanded as Buffered.
