MC-Basic:robot.SLAVE
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This property is used for enabling and disabling the master-slave mode of operation. The specified axis is slaved to an axis defined by the MASTERSOURCE property.
0 (OFF) - robot is not slaved
1 and 2 – modes , relevant for axis only
3, 4, 5 –Conveyor Tracking modes :
3 - start tracking in Absolute Tracking Algorithm mode(robot-only)
4 - arming Relative Tracking Algorithm (robot-only)
5 - start tracking Relative Tracking Algorithm mode (robot-only)
To stop the Conveyor tracking process set 0.Tracking process can be stopped due to the following reasons:
- Moving Frame position (here) exits the window boundaries
- User issues slave=0.
- Robot exits its working envelope.
As in gearing/camming the stop command given on the tracking element will disengage the tracking (slave=0). Changing slave value from 3/5 to 0 automatically decreases current trigger counter (NOI).
Syntax
<ROBOT>.Slave = <expression>
?<ROBOT>.Slave
Availability
All versions
Type
Long
Range
0 , 3 , 4 and 5
Default
0
Scope
Configuration, Task or Terminal
Limitations
Cannot be changed during motion command execution. To set the value within a task, the group must be attached to that task (using the ATTACH command). Values 1 & 2 (slave/cam) are valid for axes only and value 3/4/5 is valid for groups only. Tracking can not be started (<ELEMENT>.slave=track) if the element is disabled or if one of its axes is disabled.
Also it can’t be done if the element is stopped by another task (same as gearing
and camming) or one of its axes is stopped by another task. In these cases an
error will be returned.
Examples
XYZR.slave = 3