Chapter 6: Fine-Tuning
Figure 6-1. Dual Locator Models
In the Workspace Explorer – e-Series Controller 60 – V+ User Modules – a.feed folder, you can
pull up the V+ program related to AnyFeeder motion sequence.
The fd.main() under the a.feed folder is the program that tied the ACE Sight histogram Tool to
the AnyFeeder motion sequence. The default setting is as below that when the instance count
is 0, the AnyFeeder motion sequence will be triggered based on four cases related to front.dent
(Front zone density), flip.den ( Flip zone density) and dispense.den ( Dispense zone density).
The fd.main() program is shown below:
PROGRAM fd.main()
;
; ABSTRACT:
Background task controlling the Feeder
;
; INPUTS:
None
;
; OUTPUTS:
None
;
GLOBAL REAL pick.seq
GLOBAL $sv.client_ip
AUTO REAL front.den, flip.den, dispense.den, inst.count
REACTE fd.reacte
WHILE rob.run DO
; Execute the sequence to locate parts for picking
VRUN $sv.client_ip, pick.seq
VWAITI (pick.seq) $sv.client_ip, 0
inst.count = VRESULT($sv.client_ip, pick.seq, 3, 1, 1310, 1, 1)
; If instances are found, let the robot know it can pick
; the parts and wait for it to complete
IF (inst.count > 0) THEN
fd.ready = TRUE
WHILE fd.ready
WAIT
END
inst.count = inst.count-1
END
IF (inst.count == 0) THEN
; Calculate product densities in the 3 zones
CALL fd.density(front.den, flip.den, dispense.den)
CASE TRUE OF
VALUE front.den > fd.front.thres:
; Move the product backward from the front zone
AnyFeeder
Integration
Guide
- Page
38
