IAI PSEL, Operation Manual

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[29] V
ision System I/F Related Command
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(Note 1) SLVS and GTVD Commands can be executed only on the same program (task).
(Note 2) Receivable communication formats can be switched in I/O Parameter No. 352,
Bits 0 to 7.
(Note 3) The system is capable to obtain the work data (coordinates and attributes) of 12
work pieces in 1 shot of image capturing.
Error No. 417 is issued when 13 or more work pieces are detected in 1 shot, and
“4: Work Detection Cancel Status Detection (error, etc.)” is set to the return code.
(Note 4) Error No. 416 (Received Message Error) is issued when there is an error in the
received message during SLVS Command execution.
Check the communication format selection parameter (I/O Parameter No. 352 or
Bits 0 to 7) settings and the output communication format on Vision System side.
(Note 5) There will be no change in the variables for work attribute storage and the
position data when the quantity of detected work piece in the received image
data is 0.
(Note 6) It is prohibited to capture an image during the movement of the robot if the
camera is mounted on the robot.
Make sure to capture an image in the stop condition.
An accurate work data cannot be acquired if a capturing is conducted during the
robot movement.