Chapter 9 Programming
147
The same input range of speed/acceleration is used as in linear movement.
Variable setting: If there is a variable registered by the user, it can be used to store whether
to recognize the vision. If you select a variable, it stores the success or failure during
program execution, and you can program it using the corresponding variable in the next
program. Conversely, if you do not select a variable, when the vision fails, the program
will not proceed any further.
Since the
scan position
is configured in the
Device Setting
menu, you do not need to set
it in the vision command again.
Wait time(s)
:
After a vision equipment moves to the recording location, it may require
some waiting time until the robot arm's position is stabilized. (No waiting time is required
depending on the robot speed.) Set the waiting time for responses after requesting data
from a vision equipment.
−
Default: 3 sec
−
Input range: 1 ~ 10
Read and Fail Options
:
You can set the number of data requests in case data
receiving is unstable.
−
Request only one time
:
Request data only once. (Default)
−
Request count
:
The input range is 2 ~ 10.
Setting the movement location
After a vision equipment arrives at the location, you can use an additional Move
command to adjust the Z-axis for the TCP. You can use a Move command under a
Vision command as follows.
The same input range of speed/acceleration is used as in linear movement.
The X, Y coordinates and the RX, RY, RZ coordinates used are received from a vision
equipment and only the Z coordinate can be set to user's preference.
Note
If you want to use a tool such as a griper, you will need to input the
set
command additionally.
Summary of Contents for HCR-3
Page 1: ...HCR 3 Collaborative Robot User Manual Aug 2019 V 2 001...
Page 2: ......
Page 99: ...Chapter 8 Safety Settings 99 3 Press the OK button...
Page 186: ...Chapter 15 Maintenance 186 4 When the confirmation window appears press YES...
Page 190: ...190 Appendix B Certification Safety...
Page 191: ...191 MD Machinery Directive...
Page 192: ...192 LVD Low Voltage Directive...
Page 193: ...193 EMC Electro Magnetic Compatibility...
Page 194: ...194 Appendix C Dimensions for Installation...
Page 200: ......
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