ABB FlexLoader SC 6000, Product Manual, Page: 195 / 284

Vision.sys
This module contains some routines needed for communication between the robot
and FlexLoader Vision and must not be changed. It is loaded to all motion tasks
and to VisionCom task.
Normal use
Important data
Description Routine
Must be set according to the desired system behavior for each
camera. Normally set from
InitializeCamX in ModCamX .
• RUN_ONE_DETAIL (default): Run the conveyor belt directly
after the last part has been picked.
• RUN_NO_DETAIL : Run the conveyor belt only if no parts
have been found in the image.
• RUN_NEVER : Never run the conveyor belt.
• RUN_ALWAYS : Run the conveyor belt after each pick.
Note
When running with the setting RUN_NEVER , e.g. when picking
from pallets: If FlexLoader Vision does not find anything after
taking a new image, the robot must have some type of manage-
ment for this. The user must check the action sent in the vision
result to decide what to do with the result. If action value is equal
to 1 (
NO_DETAIL ) the appropriate action must be taken, for ex-
ample by taking a new image several times before the cell is
stopped. If
SetNextTarget is called up when the action value is
1, the robot program stops.
BELT_ACTION{4}
Must be set according to the desired system behavior for each
camera. Normally set from
InitializeCamX in ModCamX .
• TRUE : When the belt has been run and the InPosition sig-
nal set a new image is taken by the automatic device.
• FALSE : Imaging must be explicitly initiated by the robot
program by calling up GrabImage .
AL-
LOW_AUTO_GRAB{4}
Important routines
Description Routine
If SetNextTarget returns valid grip information, ConfirmPick must
be called by the user to run the conveyor and complete the started
grab-pick sequence. This usually is done by calling
RefPosOut .
Note
One GrabImage must always be confirmed with SetNextTarget
and ConfirmPick before the next GrabImage is started.
PROC ConfirmPick1..4()
Called up by the user if a new image is to be taken in FlexLoader
Vision before all sent coordinates are used.
Note
Routines such as DiscardAndTakeNewImage() are to be used
with care. If the normal GrabImage - SetNextTarget - ConfirmPick
chain is deviated from, it is extremely important to have full control
of all image taking, to prevent that double images are taken (a
new image is taken before the previous image has been pro-
cessed).
PROC DiscardAndTake-
NewImage(num
grabCamera)
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Product manual - FlexLoader SC 6000 195
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
F FlexLoader RAPID reference
F.2 FlexLoader Vision interface
Continued