9
Detailed Explanation of Functions
9-89 Vision Sensor Dedicated Commands and Status Variables
password for all of them.
5) The state of communications with the network vision sensor when this command is executed can be
checked with M_NVOPEN. For details, see the explanation of M_NVOPEN.
6) If the program is cancelled while this command is being executed, it stops immediately. In order to log on
to the vision sensor, it is necessary to reset the robot program, then start.
7) When this command is used with multi-tasking, there are the following restrictions.
The <COM number> and <Vision sensor number> must not be duplicated in different tasks.
①
If the same <COM number> is used in another task, the
"attempt was made to open an already
open communication file"
error occurs.
【SLOT 2】
10 NVOPEN "COM2:" AS #1
20 ・・・・・・・
【SLOT 3】
10 NVOPEN "COM2:" AS #2
20 ・・・・・・
スロット２と３で"COM2:"を指定し
ているので、エラーとなります。
"COM2:" is specified with Slot 2 and
with Slot 3,so an error occurs.
②
If the same vision sensor number is used in another task, the
"attempt was made to open an
already open communication file"
error occurs.
【SLOT 2】
10 NVOPEN "COM2:" AS #1
20 ・・・・・・・
【SLOT 3】
10 NVOPEN "COM3:" AS #1
20 ・・・・・・
スロット２と３で"COM2:"と"COM3:"を指定して
いるが、<ビジョンセンサ番号>を#1で指定して
いるため、エラーとなります。
"COM2:" and "COM3:" are specified with
Slot 2 and with Slot 3,but the <Vision sensor
number> is specified as #1,so an error occurs.
8) A program start condition of "Always" and the continue function are not supported.
9) Three robots can control the same vision sensor at the same time. If a fourth robot logs on, the line for
the first robot is cut off, so be careful when constructing the system.
10) The line is not closed with an End command in a program called out with a CALLP command, but the
line is closed with a main program End command. The line is also closed by a program reset.
11) If an interrupt condition is established while this command is being executed, the interrupt processing is
executed immediately even during processing of this command.
[Error]
1) If data type for an argument is incorrect, the
"syntax error in input command"
error is generated.
2) If there is an abnormal number of command arguments (too many or too few), the
"incorrect argument
count"
error occurs.
3) If the character specified in <COM number> is anything other than "COM2:" through "COM8:", the
"argument out of range"
error occurs.
4) If the value specified as the <vision sensor number> is anything other than "1" through "8", the
"argument out of range"
error occurs.
5) If a <COM number> for which the line is already connected is specified (including the <File number> for
which the line has been opened with an Open command), the
"attempt was made to open an already
open communication file"
error occurs.
6) If the vision sensor is not connected before the line is opened, the
"vision sensor not connected"
error occurs. (The same set manufacturer parameter [COMTIMER] as in the Ethernet specifications is
used. Currently "1s")
7) If the same <COM number> or the same <vision sensor number> is specified in another task, the
"attempt was made to open an already open communication file"
error occurs.
8) If the user name or password specified in the [NVUSER] parameter (user name) and [NVPSWD]
(password) is wrong, the
"wrong password"
error occurs.
9) If the communications line is cut while this command is being executed, the
"abnormal
communications"
error occurs and the robot controller side line is closed.
10) If a program is used for which the starting condition is "Always", the
"this command can not be used if
the start condition is ERR or ALW"
error occurs.
