9
Detailed Explanation of Functions
Detailed explanation of systems combining multiple vision sensors and robots
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(3) Set the calibration number.
Specify the calibration number for [Robot 1] and [Robot 2] in [Calibration No.] on the "Job Editing"
screen [Processing Condition] tab.
(4) Write the robot program
<Robot 1>
10 IF M_NVOPEN(1)<>1 THEN NVOPEN “COM2:” AS #1
'Connects to vision sensor 1 (COM2).
20 WAIT M_NVOPEN(1)=1
' Connects with vision sensor number 1 and waits for logon to be
completed.
30 NVPST #1,“Job1”,“E76”,“J81”,“L85”,0,10
'Starts the vision program and acquires the
results.
40 M_OUT(10)=1
'Notifies Robot 2 that reception is possible.
50 WAIT M_IN(10)=1
'Checks that Robot 2 has received the notice.
60 M_OUT(10)=0
' Switches Off the reception possible signal to
Robot 2.
・・・・・・
・・・・・・
Operates the robot with the results received.
・・・・・・
200 NVCLOSE
<Robot 2>
10 IF M_NVOPEN(1)<>1 THEN NVOPEN “COM2:” AS #1 'Connects to vision sensor 1 (COM2).
20 WAIT M_NVOPEN(1)=1
' Connects with vision sensor number 1 and waits for logon to be
completed.
30 WAIT M_IN(10)=1 'Waits for contact from Robot 1.
40 M_OUT(10)=1
'Outputs to Robot 1 that it received the notice.
50 WAIT M_IN(10)=0
'Checks that Robot 1 has verified reception.
60 M_OUT(10)=0
' Switches Off the notice received signal to Robot
1.
70 NVIN #1,“Job1”,“E76”,“O81”,“Q85”,0,10
'Acquires the results.
・・・・・・
・・・・・・
Operates the robot with the results received.
・・・・・・
200 NVCLOSE
* Note that the cell positions for Robot 1 and Robot 2 to acquire data from the vision sensor are different.
