9
Detailed Explanation of Functions
9-131 Vision program detailed explanation
9.3.5.
To shorten the time for transferring data with the robot controller
The image processing templates prepared for MELFA-Vision use the mechanism of transferring the
information on recognized work to the robot controller one set at a time (three communications, X, Y, and C
per piece of work).
When it is desired to shorten the tact time, it is recommended that the vision program and robot program be
altered to shorten the data transfer time.
Below is the method for transferring a maximum of four sets of data (127 bytes maximum) in each data
transfer.
<Vision program change example>
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Before change
Data exists in each cell in the vision program and the robot controller can use them without processing the
acquired values.
However, in the example above, since a total of 12 data transfers are required for cells [J81] through [L84],
the transfer time becomes longer.
■
After change
The value converts errors into a text string as is. Text string cells are linked to form a single cell.
The above program is added to the vision program before change.
Cells [O81] through [Q84] use the vision program "count error" function. If there is an error, they display the
character "E". Also, cell [S81] stores the data for the four cells [O81] – [Q84] in one cell. The vision program
"concatenate" function is used. Coordinates are delimited with "," and recognized work is delimited with "/".
For details on the functions used in vision programs, see the "In-Sight Explorer" help.
The maximum number of characters the robot can receive in one
communication is 127.
Due to restrictions on communications with the robot, if the information for one piece of
work is X, Y, and C, one data transfer can handle up to four sets of data.
CAUTION
