IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 519 / 844

Chapter 9 Special Functions
9.5 Vision System Interface Function
9-26
ME0392-4C
● MC Common Parameters
No. Parameter name
Setting at
Delivery Input range
Unit Remarks
31 Vision System I/F1 Coordinate
Axis Definition
4321H
0H to
FFFFFFFFH
Bits 0 to 3: X Direction Axis Number
Bits 4 to 7: Y Direction Axis Number
Bits 8 to 11: Z Direction Axis Number
Bits 12 to 15: R Direction Axis Number
Bits 16 to31: Spare
* Valid only for Axis Group No. 1
32 Vision system I/F 1
coordinate datum point offset X
0
-99,999,999
to
99,999,999
0.001mm
Robot coordinate X on Vision System I/F 1
coordinate (X = 0, Y = 0)
* Setting is to be established at vision system I/F
adjustment.
33 Vision system I/F 1
coordinate datum point offset Y
0
-99,999,999
to
99,999,999
0.001mm
Robot coordinate Y on Vision System I/F 1
coordinate (X = 0, Y = 0)
* Setting is to be established at vision system I/F
adjustment.
34 Vision system I/F 1
coordinate offset angle
0
-99,999,999
to
99,999,999
0.001deg
Rotation angle of Vision System I/F 1 coordinate
when robot coordinate is taken as the datum
* Setting is to be established at vision system I/F
adjustment.
35
Vision system I/F 1
Z-axis direction vision system
position judgment datum
0
-99,999,999
to
99,999,999
0.001mm
(Related Information: All Axes Parameter No. 130
“Vision System I/F 1 Control 2”)
36
Vision system I/F 1
X-axis (GTVD acquirement
data) adjustment offset
0
-99,999 to
99,999
0.001mm
37
Vision system I/F 1
Y-axis (GTVD acquirement
data) adjustment offset
0
-99,999 to
99,999
0.001mm
38
Vision system I/F 1
R-axis (GTVD acquirement
data) adjustment offset
0
-360,000 to
360,000
0.001deg
39 Vision system I/F 1 control 1 0H
0H to
FFFFFFFFH
Bits 0 to 3: Reserved by the system
Bits 4 to 11: Reserved by the system
Bits 12 to 19: Reserved by the system
Bits 20 to 23: R-axis adjustment sign reverse
(0: Not to reverse code
1: Reverse code)
Bits 24 to 31: Reserved
40 Vision system I/F 1 control 2 0H
0H to
FFFFFFFFH
Bits 0 to 7: Position judgment datum distance in Z-
axis direction [0.1mm]
(In installation with robot on top, invalid
when set to “0”)
Bits 8 to 11: Vision Installation Type
(0: Solid installation (not installed on
robot))
1: Installation on robot)
* Setting is to be established at vision
system I/F adjustment
Bits 12 to 31: Reserved
9.5 Vision System Interface Function
ME0392-4C
9-27
9.5.5 Related error code
Shown below is a list of the parameters related to Vision System I/F.
● Operation Cancel Level Errors
Error
No.
Error name Content and Cause / Countermeasure
40D
Vision system error
[Content & Cause]
Parameter setting error
1) Setting in I/O Parameter No. 351 “Vision System I/F1 Feature Select 1”
is set to not permitted to use (“0”)
[Countermeasure]
1) Set I/O Parameter No. 351 “Vision System I/F1 Feature Select 1” to
permitted to use (“1”)
40E
Vision system response
timeout error
[Content & Cause]
There is no communication response confirmed from vision system
1) Parameter setting error
2) Setting error in vision system side
[Countermeasure]
1) -1 Check that the value in I/O Parameter No. 129 Bit 4-7: TCP/IP
Message Communication is set to 1 (To Use)
1) -2 Check that the values set in I/O Parameter No. 160 to 163 Vision
System I/F Connection Destination IP Address are correct
1) -3 Check that the value set in I/O Parameter No. 164 Vision System I/F
Connection Destination Port Number is correct
2) Check that the vision system sends data to the capturing command
40F
Received command error
(vision system)
[Content & Cause]
1) An unsupported identification code was received from the vision system
2) Inappropriate data was received from the vision system
[Countermeasure]
1), 2) Check that data sent from the vision system is correct
410
Error of workpiece
quantity received (vision
system)
[Content & Cause]
1) The number of workpieces received from the vision system has exceed the
upper limit for the maximum number of workpieces in one time of capturing
[Countermeasure]
1) Leave more space between workpieces on the conveyor to avoid
exceeding the upper limit
411
Vision system I/F internal
process error
[Content & Cause]
1) The workpiece status got busy for some reason
2) The workpiece information handling process fell timed out for some reason
[Countermeasure]
1), 2) Reboot the power.
Replace SEL unit in case it would not improve even with reboot
412
Vision system command
error
[Content & Cause]
1) The vision system I/F that will be used differ from the vision system I/F
in use
2) The indicated vision system I/F is in use in another task
[Countermeasure]
1) Release the vision system I/F in use before indicating the vision system
I/F to be used
Release = SLVS Command operation
2) Use the vision system after the use in another task is finished