IRVision Operation Manual V8.10Pxx V8.20Pxx [B-83304EN 03][Output Measurement]

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IRVision Operation Manual V8
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    Sheet Title Draw  No. B-83304EN/03-05 Ed Date Design Description Date 2015 6 5   Desig  Y.Takahashi Check Apprv F.Warashina  Addition of the description about Measurement Output for Inspection for FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER i RVision OPERATOR’S MANUAL (Reference)   1/4    Addition of the description about Measurement Output for Inspection for FANUC Robot series R-30 i B/ R-30 i B Mate CONTROLLER i RVision OPERATOR’S MANUAL (Reference)  1. Type of applied technical documents Name FANUC Robot series R-30 i B/R-30 i B Mate CONTROLLER i RVision OPERATOR’S MANUAL (Reference) Spec.No./Ed. B-83304EN/03 2. Summary of Change Group Name/Outline New, Add, Correct, Delete  Applicable Date Basic Optional Function  Add 9.4.8 IRVGETMSR, IRVGETMSL New Immediately Unit Maintenance Parts Notice Correction  Another    Sheet Title Draw  No. B-83304EN/03-05 Ed Date Design Description Date 2015 6 5   Desig  Y.Takahashi Check Apprv F.Warashina  Addition of the description about Measurement Output for Inspection for FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER i RVision OPERATOR’S MANUAL (Reference)   2/4   9 STARTING FROM A ROBOT PROGRAM 9.4.8 IRVGETMSR, IRVGETMSL IRVGETMSR and IRVGETMSL are functions to output measurement values used with the Single-view Inspection vision process to numeric registers. These commands are used after RUN_FIND. IRVGETMSR This KAREL program outputs measurement values designated by “Variable 1” to “Variable 10” in the last Evaluation Tool on the tree view. The following four arguments need to be passed.  Argument 1: Vision Process Name Specify the Single-view Inspection vision process name.  Argument 2: First Register Number for Measurement Values Specify the first register number for storing the measurement values. By default, 10 measurement values designated by “Variable 1” to “Variable 10” in Evaluation Tool are stored in 10 consecutive numeric registers, starting from the register number specified by this argument.  Argument 3: First Measurement Number Specify the first measurement number in Evaluation Tool to be output. This argument is optional. If not specified, the default value of 1 is used.  Argument 4: The Number of Measurement Values Specify the number of measurement values in Evaluation Tool to be output. This argument is optional. If not specified, the default value of “11 minus Argument 3” is used. IRVGETMSL This KAREL program outputs measurement values designated by “Variable 1” to “Variable 10” in the child Evaluation Tool of each locator tool. The following seven arguments need to be passed.  Argument 1: Vision Process Name Specify the Single-view Inspection vision process name.  Argument 2: Found Part Index Specify the index number of the found part to be output. When there are multiple locator tools in the vision process, as shown in the following image, the index number is the cumulative number of the found parts from the top of the tree (The following image shows an example where GPM Locator Tool 1 detects three parts and Blob Locator Tool 1 detects two parts).    Sheet Title Draw  No. B-83304EN/03-05 Ed Date Design Description Date 2015 6 5   Desig  Y.Takahashi Check Apprv F.Warashina  Addition of the description about Measurement Output for Inspection for FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER i RVision OPERATOR’S MANUAL (Reference)   3/4   The Number of Found Parts 3Model ID 1index =  1 index =  2 index =  3 The Number of Found Parts 2Model ID 2index =  4 index =  5 ResultNo Model ID  USEIRVGETMSR    Argument 3: Register Number for PASS/FAIL Result Specify the register number for storing PASS/FAIL result of the found part designated by Argument 2. The following value is set in the numeric register. “FAIL” = 0, “PASS” = 1, “Could not be determined” = 2.  Argument 4: Register Number for Model ID Specify the register number for storing Model ID of the found part designated by Argument 2. As shown in the image above, when there are multiple locator tools in the vision process, measurement values to be output are different for each locator tool. In this case, the users should set different Model ID to each locator tool so that the measurement values can be distinguished by the TP program.  Argument 5: First Register Number for Measurement Values Specify the first register number for storing the measurement values. By default, 10 measurement values designated by “Variable 1” to “Variable 10” in Evaluation Tool are stored in 10 consecutive numeric registers starting from the register number specified by this argument.  Argument 6: First Measurement Number Specify the first measurement number in Evaluation Tool to be output. This argument is optional. If not specified, the default value of 1 is used.  Argument 7: The Number of Measurement Values Specify the number of measurement values in Evaluation Tool to be output. This argument is optional. If not specified, the default value of “11 minus Argument 6” is used. Sample Program 1 Shown below is an example of outputting measurement values in the last Evaluation Tool on the tree view. 1: VISION RUN_FIND ’VISION1’ 2: VISION GET_PASSFAIL ‘VISION1’ R[1] 3: CALL IRVGETMSR(‘VISION1’, 2, 1, 5) In this example, the PASS/FAIL result is stored in register [1] by GET_PASSFAIL. Then, the measurement values designated by “Variable 1” to “Variable 5” in the last Evaluation Tool on the tree view are stored in register [2] to [6] by IRVGETMSR. Sample Program 2 Shown below is an example of outputting measurement values in the child Evaluation Tool of each locator tool.    Sheet Title Draw  No. B-83304EN/03-05 Ed Date Design Description Date 2015 6 5   Desig  Y.Takahashi Check Apprv F.Warashina  Addition of the description about Measurement Output for Inspection for FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER i RVision OPERATOR’S MANUAL (Reference)   4/4   1: VISION RUN_FIND ’VISION1’ 2: VISION GET_NFOUND ‘VISION1’ R[1] 3: FOR R[2]=1 TO R[1] 4: CALL IRVGETMSL(‘VISION1’, R[2], 3, 4, 5) 5: …  6: END FOR In this example, the number of found parts is stored in register [1] by GET_NFOUND. Then, the data of each found part is output by IRVGETMSL. Specifically, the PASS/FAIL result is stored in register [3], the Model ID is stored in register [4], and the measurement values designated by “Variable 1” to “Variable 10” in the child Evaluation Tool of each locator tool are stored in register [5] to [14].
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