APP - 61
APPENDICES
(4) Motion SFC program
P0
P0
[K1:Real]
1 ABS-2(Vector-speed)
Axis 1, D4000 m
Axis 2, D4002 m
Vector Speed 1000 mm/s
[G4]
//Wait for positioning completion
M2402*M2422
[F4]
//Calculate command position from image data
D4000L=LONG(D3010F*10000.0) //Axis 1 (X)
D4002L=LONG(D3014F*10000.0) //Axis 2 (Y)
[G3]
//Wait for complete of image data reception
(D2000==40)*!M0
[F2]
//Reset status storage device
MVFIN K2
[G2]
//Wait for trigger request
PX0
[F3]
//Issue trigger to vision system
MVTRG K2
[F0]
//Log onto vision system
MVOPEN K2
[F1]
//Load job
MVLOAD K1
[G1]
//Confirm load completion of job
(D3000==K1)*!M0
[G0]
//Confirm log on completion
(D2000==K20)*!M0
Log onto vision system of vision sensor (camera) No. 2.
Confirm log on completion (20) with vision system status
storage device (D2000).
Confirm that there is no error with error flag (M0).
Load job "Worksearch1" set in program No. 1.
Confirm completion of job loading and online status (1)
with program status storage device (D3000).
Confirm that there is no error with error flag (M0).
Set status storage device reset in vision sensor
(camera) No. 2 vision system.
Wait for trigger request (PX0).
Issue trigger to vision system of vision sensor (camera)
No. 2.
.
Wait for completion of image data reception (40) with
vision system status storage device (D2000).
Confirm that there is no error with error flag (M0).
Move to command position.
Wait for positioning completion (axis 1, axis 2 in-position).
Convert data [mm] stored in image data storage device
(D3010 to) into position command unit [0.1 m].
Alignment ajustment
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