15 Workpiece Recognition and Teaching (
“
C1
”
program)
After automatic operation, “C1” program automatically stops and the LED of the [STOP] button is turned
on. Open “C1” program again with T/B. Press the [F1](FWD) key to display the subsequent operation
messages.
* With this operation, encoder data and workpiece position recognized by the vision sensor are
acquired.
9) Rotate the conveyer forward and move a workpiece within the vision sensor recognition area into the
robot movement range.
10) Move the robot to the position where it is able to suction the workpiece.
* With this operation, encoder data and robot position are acquired.
11) Perform step operation until “End.”
* With this operation, the robot becomes able to recognize the position of the workpiece
recognized by the vision sensor.
(3) Confirmation after operation
Check the values of the following variables using T/B.
Enter the model number for the array number.
Value of “M_101()”: Differences between encoder values when a workpiece is within the vision sensor
area and when the workpiece is on the robot side
Value of “P_102()”: Data in the variable “PRM1” (model number/encoder number)
Value of “P_103()”: Data in the variable “PRM2” (recognition field of image view/workpiece size)
Value of “C_100$()”: COM number
Value of “C_101$()”: Vision program name
Confirm that each of the above values is entered.
15-76 Program for Vision Tracking
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