Appendix B
06/2005
Danaher Motion
Limitations
A whole structure cannot be printed.
Mathematical, logic and bitwise operators cannot be used for whole structures.
A whole structure cannot be used as a condition in flow control statements and event
definitions.
A whole structure cannot be recorded.
For example:
Common Shared VAR1 As STRUCT
Common Shared VAR2 As STRUCT
PRINT VAR1 -> Error
VAR2 = VAR1 * 100 -> Error
IF VAR2 > VAR1 THEN -> Error
WHILE VAR2 -> Error
C
ONVEYER
T
RACKING
A moving frame’s variable data-type is defined by the user as a separate unit (object) and
can be linked to one or more robots. The data type has its own properties and definitions.
The moving frame represents a coordinate system relative to the robot’s world coordinate
system. Set a limited area (in further text: window) on which the robot tracks. This area is
the operation region or the working frame. Before the entrance to this region, there is a
sensor that marks objects entering the region. The tracking starts when a trigger occurs
and you enable the procedure. During tracking, you can move the robot both in absolute
and relative movements. The absolute movements shift by the tracking process in the
same direction and distance as the moving object. The relative movements are
commanded in respect to the current robot position. The relative movements are
superposed to the movements caused by the tracking of the moving frame. The tracking
lasts until the object exits the working frame,. Then, the robot starts tracking the next item
on the frame.
190 Rev
E
M-SS-005-03
