Makes robot movement (movej() etc.) track a circular conveyor.

>>> track_conveyor_circular(p[0.5,0.5,0,0,0,0],500.0, false)

The example code makes the robot track a circular conveyor with center in p[0.5,0.5,0,0,0,0] of the robot base coordinate system, where 500 ticks on the encoder corresponds to one revolution of the circular conveyor around the center.

Parameters

center: Pose vector that determines center of the conveyor in the base coordinate system of the robot.

ticks_per_revolution: How many ticks the encoder sees when the conveyor moves one revolution.

rotate_tool: Should the tool rotate with the coneyor or stay in the orientation specified by the trajectory (movel() etc.).

encoder_index: The index of the encoder to associate with the conveyor tracking.  Must be either 0 or 1. This is an optional argument, and please note the default of 0. The ability to omit this argument will allow existing programs to keep working. Also, in use cases where there is just one conveyor to track consider leaving this argument out.

Example command: track_conveyor_circular(p[0.5,0.5,0,0,0,0], 500.0, false)

• Example Parameters:
  • center = p[0.5,0.5,0,0,0,0]    location of the center of the conveyor
  • ticks_per_revolution = 500    the number of ticks the encoder sees when the conveyor moves one revolution
  • rotate_tool = false    the tool should not rotate with the conveyor, but stay in the orientation specified by the trajectory (movel() etc.).