Hanwha HCR-5, User Manual

Page: 149 / 206

Chapter 9 Programming
149

The same input range of speed/acceleration is used as in linear movement.

Variable setting: If there is a variable registered by the user, it can be used to store whether
to recognize the vision. If you select a variable, it stores the success or failure during
program execution, and you can program it using the corresponding variable in the next
program. Conversely, if you do not select a variable, when the vision fails, the program will
not proceed any further.

Since the scan position is configured in the
Device Setting
menu, you do not need to set
it in the vision command again.

Wait time(s)
: After a vision equipment moves to the recording location, it may require
some waiting time until the robot arm's position is stabilized. (No waiting time is required
depending on the robot speed.) Set the waiting time for responses after requesting data
from a vision equipment.
-
Default: 3 sec
-
Input range: 1 ~ 10

Read and Fail Options
: You can set the number of data requests in case data receiving
is unstable.
-
Request count
: The input range is 2 ~ 10.
Setting the movement location
After a vision equipment arrives at the location, you can use an additional Move
command to adjust the Z-axis for the TCP. You can use a Move command under a
Vision command as follows.

The same input range of speed/acceleration is used as in linear movement.
 The X, Y coordinates and the RX, RY, RZ coordinates used are received from a vision
equipment and only the Z coordinate can be set to user's preference.
Note
If you want to use a tool such as a griper, you will need to input the
set
command additionally.