9
Detailed Explanation of Functions
Vision Sensor Dedicated Commands and Status Variables
9-90
(2) NVPST (Network vision program start)
[Function]
Starts the specified vision program and obtains the results.
The data received from the vision sensor is stored in the robot controller robot status variables.
[Format]
NVPST
□
#<Vision sensor number>,"<Vision program (job) name>"
, "<Recognition count cell>", "<Start cell>", "<End cell>", <Type> [, <Timeout>]
[Term]
<Vision sensor number>
(Can not be omitted)
This specifies the number of the vision sensor to control.
Setting range: 1 - 8
<Vision program (job) name>
(Can not be omitted)
Specifies the name of the vision program to start.
The vision program extension (.job) can be omitted.
The only characters that can be used are "0" – "9", "A" – "Z", "a" – "z", "-", and "_".
<Recognition count>
(Can not be omitted)
Specifies the cell in which the count of work recognized by the vision sensor is stored.
Setting range:
Row:
0-399 Column: "A" – "Z" Example: "A5"
The count of work recognized by the vision sensor stored in the specified cell is saved in
M_NVNUM(*).(*=1 – 8)
* When a vision program is created with MELFA-Vision, see "9.2.3Job edit screen ([Result Cell
Position] tab)" and input the value indicated by MELFA-Vision.
<Start cell>/<End cell>
(Can not be omitted)
Specifies the cell range (rows and columns) in which the results recognized by the vision sensor are
stored.
The contents of the specified cell are stored in any of the status variables P_NVS*(30)
・
M_NVS*(30,10)
・
C_NVS*(30,10).(*=1 - 8)
Setting range:
Row:
0-399 Column: "A" – "Z" Example: "A5", "C10", etc.
However, the error
"specified cell value out of range"
occurs when the number of data that the
range specified by < Start cell > and < End cell > is included in row 30, colimn 10 or the cell exceeds
as many as 90.
* When a vision program is created with MELFA-Vision, see "9.2.3Job edit screen ([Result Cell
Position] tab)" and input the value indicated by MELFA-Vision.
・・・・
・・
When creating a vision program this way and acquiring the data (X, Y, C) only for Robot 1, specify
<Start cell> = "J96" <End cell> = "L98".
<Type>
(Can not be omitted)
Specifies the status variable cell in which the results recognized by the vision sensor are stored.
As a result of the recognition, one cell can store plural data by switching off the comma district.
However, there is a limitation up to 255 characters or less on one cell.
The specified character-string data (two or more of one data or the comma district switching off data)
preserved from < Start cell > to < End cell > is preserved in a state variable either of character type a
positional type variable and a numeric type by the specification of < type >.
Setting range: 0 – 7 (
Set value 4-7 can be used since software version K7.)
Cell space in vision program
