# conveyor tracking: wait and follow

**URL:** <https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968>\
**Category:** RobotStudio\
**Created:** [January 22, 2016, 11:38am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968 "2016-01-22T11:38:04Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [January 22, 2016, 11:38am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968/1 "2016-01-22T11:38:04Z")

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Hi,

how can i get the robot to follow a wobj remaining steady with respect to it? I use a moveL to reach the wobj on CNV1, then if I use a WaitTime the robot remain still with respect to the world. I wish it to follow the conveyor remaining still with respect to it.

Any suggestion?  
thanks!

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**Author:** ![Knud\_E\_Lindberg](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/knud_e_lindberg/32/4450_2.png) [@Knud\_E\_Lindberg](https://tech-community.robotics.abb.com/u/Knud_E_Lindberg)\
**Post date:** [January 22, 2016, 11:46am UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968/2 "2016-01-22T11:46:46Z")

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If robot stay in the workobjekt that are conneted to the cnv, robot will follow when using wattime.

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<div class="post-metadata">

**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [January 22, 2016, 12:00pm UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968/3 "2016-01-22T12:00:23Z")

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Thanks, What do you mean with “stay in”?

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**Author:** ![Neily03](https://avatars.discourse-cdn.com/v4/letter/n/c6cbf5/32.png) [@Neily03](https://tech-community.robotics.abb.com/u/Neily03)\
**Post date:** [January 22, 2016, 12:26pm UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968/4 "2016-01-22T12:26:25Z")

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Use a ‘fine’ zone in your last move instruction before the wait.

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<div class="post-metadata">

**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [January 22, 2016, 12:28pm UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968/5 "2016-01-22T12:28:47Z")

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That’s working! Many thanks!!!

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**Author:** ![Kienan123](https://avatars.discourse-cdn.com/v4/letter/k/a4c791/32.png) [@Kienan123](https://tech-community.robotics.abb.com/u/Kienan123)\
**Post date:** [August 18, 2021, 6:41pm UTC](https://tech-community.robotics.abb.com/t/conveyor-tracking-wait-and-follow/6968/6 "2021-08-18T18:41:36Z")

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VAR stoppointdata followtime:=[3,FALSE,[0,0,0,0],0,0.2,“”,0,0];

MoveL rCNV1\_A1, v1500, z50 \Inpos:= **followtime** , tGripper \WObj:=wobj\_cnv1;

This will follow the conveyor for 0.2 seconds.