17 Sensor Monitoring Program (
“
CM1
”
Program)
17. Sensor Monitoring Program (“CM1” Program)
This chapter provides an overview of “CM1” program, which is run in parallel, when “1” program is run.
Different types of “CM1” programs are used for conveyer tracking and vision tracking, and different
processing is performed for them. These programs are explained in the following.
17.1. Program for Conveyer Tracking
“CM1” program calculates the workpiece coordinates in the robot coordinate system at the moment where a
photoelectronic sensor is activated based on the following data acquired with “A1” program and “C1”
program, and then stores the coordinates in the tracking buffer(Storage area to preserve data temporarily).
<Acquired data>
Amount of robot movement per encoder pulse (P_EncDlt)
Difference between the encoder value when a photoelectronic sensor is activated and the encoder value
when teaching is performed on a robot
Position at which the robot is taught to grab a workpiece
17.2. Program for Vision Tracking
“CM1” program converts the workpiece position recognized by the vision sensor to the corresponding
coordinates in the robot coordinate system based on the following data acquired with “A1” program, “B1”
program and “C1” program, and then stores the coordinates in the tracking buffer.
<Acquired data>
Amount of robot movement per encoder pulse(P_EncDlt)
Difference between the encoder value when a marking sticker is on the vision sensor side and the
encoder value when the marking sticker is on the robot side
Workpiece position recognized by the vision sensor
Difference between the encoder value when the vision sensor recognizes a workpiece and the encoder
value when teaching on the workpiece position was performed on the robot
Position at which the robot is taught to grab a workpiece
The timing at which the vision sensor acquires images is calculated such that images of the same workpiece
are taken at least once or up to twice by the following data specified in “C1” program.
<Data specified in “C1” program>
Field of view in the conveyer movement direction
Length of workpieces detected by a vision sensor (length in the conveyer movement direction)
17-84 Program for Conveyer Tracking
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