9
Detailed Explanation of Functions
Vision Sensor Dedicated Commands and Status Variables
9-102
[Explanation]
1) Receives the recognition results from the specified vision program of the specified vision sensor.
2) Within the timeout time, does not move to the next step until the results are received from the vision
sensor.
However, if the robot program is stopped, this command is cancelled. Processing is executed from the
cancelled state with a restart.
3) When this command is used with multi-tasking, it is necessary to execute the NVOPEN command and
NVRUN command in the task using this command. At this time, use the <vision sensor number>
specified with the NVOPEN command.
4) When type from "4" to "7" is specified for <Type>, the improvement of the data receiving speed from the
Vision Sensor can be expected.
A specified position of <Start Cell> and <End Cell> is different depending on a specified value of <Type>,
and refer to "Job Editting" Screen - "Result Cell Position" Tab of MELFA-Vision for a specified position.
5) A program start condition of "Always" and the continue function are not supported.
6) When using multi-mechanism mode, see the explanation of the NVPST command.
7) Up to three robots can control the same vision sensor at the same time, but this command can not be
used by more than one robot at the same time. Use this command on any one of the robots.
8) If an interrupt condition is established while this command is being executed, the interrupt processing is
executed immediately. Processing is executed when the interrupt processing ends or is continued with a
restart.
9) When this command is executed, it is necessary to specify beforehand with the NVPST command or
NVRUN command the vision program specified with the <Vision program name>.
10) In order to shorten the tact time, it is possible to do other work after executing the NVRUN command
and execute NVIN when it is required.
11) Note that if the program stops between NVRUN and NVIN, the results when NVRUN is executed and
the results when NVIN is executed may be different.
[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
does not exist"
error occurs.
8) If the program specified in the <vision program name> is not started by an NVRUN command, a
"abnormal vision program name"
error occurs.
9) 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.
10) If there is no value in the cell specified in "Recognition count cell", an
"invalid value in specified for
recognition count cell"
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 <Start cell> and <End cell> are reversed, a
"specified cell value out of range"
error occurs.
15) If the <Type> is other than "0" – "3", an
"argument out of range"
error occurs.
16) If the <Timeout> is other than "1" – "32767", an
"argument out of range"
error occurs.
17) 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.
18) If the communications line is cut while this command is being executed, an
"abnormal
communications"
error occurs and the robot controller side line is closed.
