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Appendix B External Input for Position Latch and Vision Trigger
226 Adept MV Controller User’s Guide, Rev. B
Vision Trigger
On AdeptVision systems, a camera picture can be taken at any time, or it can be
set to wait for a triggering event. That event would normally be configured to be
an external signal from the External Trigger inputs described above. This is
configured using the
CONFIG_C
utility program.
See the
AdeptVision User’s Guide
and the
AdeptVision Reference Guide
for a
description of the V
+
keywords VPICTURE and V.IO.WAIT. See
“VME Bus
Address and Configuration“ on page 142 for a description of the switches on the
EVI board.
Combined Vision Trigger and Position Latch (“Vision in the Loop”)
An RS-170 video camera operates at 30 frames per second. When the vision
system senses an external trigger, it will normally have to wait until the start of
the next frame before it can capture another picture. This can, therefore, involve a
delay of up to 33 ms (milliseconds). The Adept system allows for a “delayed
latch”, where the external trigger is used to signal a picture to be taken by the
optional AdeptVision system, and then the AdeptVision system signals the
position of the robot or conveyor belt to be latched, synchronized to the exact
moment that the vision picture is captured. This feature is especially useful when
the camera is mounted on a moving robot, or the camera is viewing an object on a
moving conveyor belt. See the
AdeptVision User’s Guide
for details of the vision
trigger.
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