![background image](http://html1.mh-extra.com/html/omron/nj501-4300/nj501-4300_manual_742408319.webp)
A - 11
Appendices
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
A-1
S
y
smac S
tu
d
io
Rob
o
t Add
itio
n
al Opt
ion
A
A-1-
4 3D Machine Models
Vision sensor: Variables of
detected workpiece infor-
mation
sSimWorkInitial-
Data
(User-defined)
Get device variables for the vision sensor.
From among these device variables, assign the necessary
variables at once to the data type, which is a user-defined
structure.
The necessary variables are given below.
• Data output completion flag
• Number of detected workpieces
• Encoder value when triggered
• Measured (X-/Y-) coordinates of workpieces
• Measured angles of workpieces
You can set these variables individually.
The following variables are set automatically when you cor-
rectly set variables of detected workpiece information.
Data output comple-
tion flag: Correspond-
ing variable
BOOL
This flag indicates that data was output from the vision sensor.
The workpiece image is generated when this flag changes to
TRUE.
Encoder value when
triggered: Correspond-
ing variable
LREAL
The encoder count when the vision sensor captured the
image.
Number of detected
workpieces: Corre-
sponding variable
LREAL
The number of workpieces detected in the single image.
Index of workpiece 1:
Corresponding vari-
able
LREAL
The number to indicate the type of the first workpiece
detected.
Measured X-coordi-
nate of workpiece 1:
Corresponding vari-
able
LREAL
The X-coordinate of the position in which the first workpiece
was detected.
Measured Y-coordi-
nate of workpiece 1:
Corresponding vari-
able
LREAL
The Y-coordinate of the position in which the first workpiece
was detected.
Measured angle of
workpiece 1: Corre-
sponding variable
LREAL
The pose of the first workpiece detected.
· · ·
Index of workpiece 7:
Corresponding vari-
able
LREAL
The number to indicate the type of the seventh workpiece
detected.
Measured X-coordi-
nate of workpiece 7:
Corresponding vari-
able
LREAL
The X-coordinate of the position in which the seventh work-
piece was detected.
Measured Y-coordi-
nate of workpiece 7:
Corresponding vari-
able
LREAL
The Y-coordinate of the position in which the seventh work-
piece was detected.
Measured angle of
workpiece 7: Corre-
sponding variable
LREAL
The pose of the seventh workpiece detected.
Name
Data type
Description
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......