ABB FlexLoader SC 6000, Руководство по эксплуатации продукта, Страница: 197 / 284

Description Routine
Can be called up to write an input query on the FlexLoader Vision
user interface. The function returns the reply that the operator has
entered. FUNC string VisionInput-
Box()
Can be called up to write a message on the FlexLoader Vision
user interface and read off the operator’s reply (
Ok , Yes , No ).
FUNC num VisionMes-
sageBox()
Writes a message directly to the FlexLoader Vision log file. PROC WriteLog()
Further routines
There are several other routines that can be useful. Most of them are found below.
Some routines are only help routines and are only called up by other routines in
Vision.sys . These are not mentioned here.
Description Routine
Called up to change the camera contrast. PROC CameraCon-
trast(nCamera, nValue)
Called up to change the exposure time in the camera. PROC CameraExposure-
Time(nCamera, nValue)
Called up to change camera brightness. PROC Camer-
aGain(nCamera,
nValue)
This routine checks that received FlexLoader Vision coordinates
is within maximum picking area. Also controls that given pick offset
is ok. FUNC bool checkCo-
ordinates(num pickAr-
eaWidth,num maxMove-
mentHeightUnderCam-
era,\num pickAr-
eaLength,\robtarget
CheckTarget)
For system internal usage. PROC ClearCoordin-
ates()
Called up to deactivate a certain teachin position in FlexLoader
Vision. All positions can be locked at the same time by specifying
a value
nPosition > 999.
PROC DisablePosi-
tion(nCamera, nPosi-
tion)
Called up to activate a certain teachin position in FlexLoader Vis-
ion. All positions can be enabled at the same time by specifying
a value
nPosition > 999.
PROC EnablePosi-
tion(nCamera, nPosi-
tion)
For system internal usage. PROC ForceInPosition()
Called up to check whether a certain position is among the results
from FlexLoader Vision. FUNC bool isPosition-
Present(num cam,num
desiredPosition)
Called up to check how many times a certain position occurs in
the results sent by FlexLoader Vision. FUNC num numPosition-
Present(num cam,num
desiredPosition)
Called up to reset a certain alarm that was set in FlexLoader Vision
from the robot. PROC Re-
setAlarm(sMessage)
Called up to reset a specific information message that was set in
FlexLoader Vision from the robot. PROC ResetInforma-
tion(sMessage)
Called up to reset a certain warning that was set in FlexLoader
Vision from the robot. PROC ResetWarn-
ing(sMessage)
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Product manual - FlexLoader SC 6000 197
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
F FlexLoader RAPID reference
F.2 FlexLoader Vision interface
Continued