9
Detailed Explanation of Functions
9-117 Vision program detailed explanation
(*4) There are two types of output coordinates.
Table 9-8 List of Coordinates Output to Robot
Output method
Explanation
Absolute
coordinate
output
The detected pattern position is output converted to the robot coordinate system.
Relative
coordinate
output
The detected pattern position is output with the robot coordinate system offset
quantities for the relative position based on the registered pattern position.
(*5) Templates are also provided that secure the data for two robots or for three robots with one image.
When multiple robots are connected to one vision sensor, it is possible to acquire the operation
positions for each robot by capturing one image.
(*6) It is necessary for the vision program to prepare beforehand an area in which to store the work position
data that the robot acquires. Expanding this area increases the amount of information that the robot can
obtain, but also increases the vision program load time and the time for sending the information from the
vision sensor to the robot. Therefore, MELFA-Vision provides templates for areas for storing
1/4/10/20/30 sets of work information. Select the one that best matches your system.
These quantities - 1/4/10/20/30 – indicate the maximum number of sets of work data that the robot can
acquire. For example, for acquiring 8 sets of work data, select the 10 template.
(*7) Color is a method to detect the pattern in the image based on the specified color pattern.
Refer to “9.3.3 Image processing
–
Color” for details of the color image processing.
