9
Detailed Explanation of Functions
Vision Sensor Dedicated Commands and Status Variables
9-94
【
Example assembling system with two robots and one vision sensor
】
Controller
Controller
②Image capture request
③Data reception
⑥Image capture request
①UsingON
④UsingOFF
⑤Using ON
⑧UsingOFF
⑦Data reception
<Procedure>
①
The controller using the vision sensor checks that the vision sensor is not being used by another
controller and outputs the "Using" On signal to that controller.
②
It outputs the "Image capture request" to the vision sensor.
③
When the vision sensor image processing is complete, the controller receives the necessary data.
④
The controller switches Off the "Using" signal it had output to the other controller.
⑤
The other controller executes Steps 1 - 4.
In this way, the two robot controllers use the vision sensor alternating or as necessary.
9) If an interrupt condition is established while this command is being executed, the interrupt processing is
executed immediately.
[Errors]
1) If the data type for an argument is incorrect, a
"syntax error in input command statement"
error is
generated.
2) If there is an abnormal number of command arguments (too many or too few), an
"incorrect argument
count"
error occurs.
3) If the <vision sensor number> is anything other than "1" through "8", an
"argument out of range"
error
occurs.
4) If the NVOPEN command is not opened with the number specified as the <vision sensor number>, an
"abnormal vision sensor number specification"
error occurs.
5) If the <vision program name> exceeds 15 characters, an
"abnormal vision program name"
error
occurs.
6) If a <vision program name> uses a character other than "0" - "9", "A" - "Z", "-", or "_" (including
lowercase letters), an
"abnormal vision program name"
error occurs.
7) If the program specified in the <vision program name> is not in the vision sensor, a
"vision program
not present"
error occurs.
8) If the <Recognition count cell>, <Start cell>, or <End cell> contains a number other than "0" - "399" or a
letter other than "A - "Z", an
"argument out of range"
error occurs.
9) If there is no value in the cell specified in "Recognition count cell", an
"incorrect value in recognition
count cell"
error occurs.
10) If the <Start cell> and <End cell> are reversed, a
"specified cell value out of range"
error occurs.
11) If the number of data included in the cell which specifies it by <Start cell> and <End cell> exceeds 90,
a
"specified cell value out of range"
error occurs.
12) If the range specified by <Star cell> and <End cell> exceeds line 30 and row 10, a
"specified cell value
out of range"
error occurs.
13) If the <Type> is other than "0" - "7", an
"argument out of range"
error occurs.
14) If the <Timeout> is other than "1" - "32767", an
"argument out of range"
error occurs.
15) If the vision sensor does not respond without the time specified as the <Timeout> or within the first 10
seconds if the <Timeout> parameter is omitted, a
"vision sensor response timeout"
error occurs.
16) If the vision program's image capture specification is set to anything other than "Camera" (all trigger
command), "External trigger", or "Manual trigger", an
"abnormal image capture specification"
error
occurs.
17) If the vision sensor is "offline", the
"Put online"
error occurs, so put the vision sensor "Online".
