Description
Routine
Called up by the user in order to start the feeder before all sent
coordinates are used.
Note
Routines such as
DiscardAndStartBelt()
are to be used with care.
If the normal
GrabImage
-
SetNextTarget
-
ConfirmPick
chain is
deviated from, it is extremely important to have full control of all
image taking, to prevent that double images are taken (a new im-
age is taken before the previous image has been processed).
PROC DiscardAndStart-
Belt(num grabCamera)
Discards current coordinates which have not been used yet.
Note
Routines such as
DiscardCoordinates()
are to be used with care.
If the normal
GrabImage
-
SetNextTarget
-
ConfirmPick
chain is
deviated from, it is extremely important to have full control of all
image taking, to prevent that double images are taken (a new im-
age is taken before the previous image has been processed).
PROC DiscardCoordin-
ates(num grabCamera)
This function waits for coordinates from vision and retrieve the
result. Then the result is returned within a visionres data. If nothing
found this function will retry a new image or run belt again if there
is a belt.
Note
This routine is handling grabbing (but still possible to do it in ad-
vance too). It also calls SetNextTarget to receive results and do
a first evaluation of what to do. If user wants, this routine could
do image retires too.
FUNC visionres GetNew-
VisionResult(num Cam-
era,\num DesiredPosi-
tion,\num MaxImageRe-
tries,\num TimeoutTime-
Vision)
Called up by the user to take a new image with the selected
camera. The routine waits until the accompanying signal
InPosi-
tion
is 1 and sends a command to FlexLoader Vision to take a
new image with
nCamera
.
Note
Do not use
GrabImage
if the camera is set to
AL-
LOW_AUTO_GRAB = TRUE
(set in
IntitializeMain
in
MainModule
).
New images will be requested automatically after
Con-
firmPick1..4()
.
PROC GrabImage(num
grabCamera)
Called at the beginning of the program to initialize the communic-
ation with FlexLoader Vision.
PROC InitVision()
Returns current operating status in FlexLoader Vision (
PV_IDLE
,
PV_OPERATION
,
PV_STARTING
,
PV_STOPPING
).
FUNC num Send-
PvStatus()
Called up to retrieve the next valid grip position from FlexLoader
Vision for camera
nCamera
. The function returns when the co-
ordinates for a valid part that can be gripped are available. It is
possible to specify that only one selected teachin position in
FlexLoader Vision is to be returned.
PROC SetNextTar-
get(nCamera,\nDesired-
Position)
Stops FlexLoader Vision at the robot’s request.
PROC StopVisionSys-
tem()
Continues on next page
196
Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
F FlexLoader RAPID reference
F.2 FlexLoader Vision interface
Continued
Summary of Contents for FlexLoader SC 6000
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