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2.1. Structure of Online Tracking Program

2.1. Structure of Online Tracking Program​

 

In order to use the online tracking function, set the communications and the incremental command filter for positions while activating this function by means of the OnLTrack command on the JOB file. And set robot’s motion fields and speed limits with the use of the LIMIT command, if necessary. Lastly, Terminate the function by inactivating the online tracking function with.

 

Division

Description

Examples of the program

Start the function and set the communications and filter

While switching on the online tracking function, set the UDP/IP communications and the incremental command filter.

OnLTrack ON,IP=192.168.1.254,
PORT=7127,CRD=1,Bypass,Fn=10

Set motion fields and speed limits

When activating the online tracking function, create fields and speed limits of robot’s motions. The default of the online tracking function is applied unless there are any settings.

(Refer to the following the LIMIT command.)

LIMIT POS,+X=500,-X=500,
+Y=500,-Y=500,+Z=500,-Z=500

LIMIT VEL,X=100,Y=100,Z=100,
RX=50,RY=50,RZ=50

Terminate the function

Terminate the online tracking function.

OnLTrack OFF