Meaning of continue_track_at_prog_end?

    As per subject line: does anybody know what the effects are of this line being either TRUE or FALSE? It is found under the APPL section of TP program listings.

    Searching for it in the various manuals didn't turn up anything, and neither did some internet searching. It seems to indicate whether or not the robot should stay in linetracking mode, but how does this work with for instance a robot that switches continuously between two linetracking schedules (in a pick-and-place setup or similar)?

    It's exactly what it says.
    If TRUE, the robot will continue tracking (following the encoder) after the program end, until any of the following events:
    - The robot reaches its motion limit.
    - A non-tracking program takes control.
    - A tracking program starts new tracking (not just starts executing, but the next part is inbound).
    - A tracking program executes STOP_TRACKING instruction.

    In pick and place between two linetracking schedules, I would execute STOP_TRACKING in the end of each task (pick and place).

    Edited once, last by Sergei Troizky (September 29, 2013 at 12:33 AM).

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