Getting Started - Tracking Core

This section explains the steps for configuring a tracking application with Tracking Core functionality. The configuration consists of a delta robot and a conveyor belt.

Two products (frames) are placed on the conveyor belt. In the first step, the robot synchronizes itself to the first frame and performs a movement synchronous with the frame. The second step involves synchronization to the second frame. In this frame, the robot also performs a movement that is synchronized with the frame. Desynchronization to the start position then takes place.

In this application, the Codian D4-1100-S026-R100 delta robot is used and added via the Specific robots wizard. If a different delta robot is used (see Mechanical system), the hardware and settings in the configuration may need to be adjusted.

Requirements

• In simulation, Scene Viewer is recommended – the scene is either created automatically or obtained from GettingStartedHelper. The required connection login is Username: User / Password: MpPick
• The basics of coordinate systems are known.
• The basics for a customized frame hierarchy are known.
• "Getting started" tutorials are designed for simulation – describing adjustments to hardware or adapting to one's own hardware.
• Required licenses must be available depending on hardware and software components used (see Licensing).
• For real hardware, the transfer method must be taken into account according to the download behavior of the mapp Technology concept.

Running and testing the application

The program can be tested using the Watch window and diagnostics functions.

The interface of the mapp function block in the Watch window can be used to enable commands such as switching on (Power) and homing (Home) as well as the movement (MoveXxx) or program (MoveProgram).

Additional functionalities are available in section Diagnostic functions.

The command starts the motion sequence of the tracking core system, and the ReadyXxx variables provide information about which program is working and has been prepared. If an error occurs, the state of variable Ready changes from TRUE to FALSE. For additional information, see the respective program on the function block outputs.

Tip: Changing the speed of the conveyor belts (PickConveyor) best shows how the TrackingCore solution works and behaves under different conditions.