Mitsubishi CR750-Q Series Instruction Manual page 134

21 Appendix
<Vision sensor recognition check>
Calculate the difference
between last time and the
current encoder value.
Is the timing in which the
image is acquired now?
Imaging request +
encoder value acquisition
Is the vision sensor
logged on?
Acquire information of the
workpiece that the vision sensor
recognized.
How many are the number
of recognized
0 pieces
workpieces?
Preserve each element of the
recognition data in the array
variable.
Tracking data storage
processing
<Vision sensor recognition check>
front 1
Write the data
in the buffer.
(5) 1.prg
The same program as the conveyer tracking.
21-124 Chart of sample program
Start
Yes
No
No
Yes
Excluding 0 pieces
End
front 2
Write the data
in the buffer.
Error output
(9100）
<Tracking data storage processing>
Start
Calculate coordinates of
workpiece in the robot
coordinate system.
Conveyer position
pattern?
left 2
left 1
Write the data Write the data
in the buffer. in the buffer.
<Tracking data storage processing>
End
right 2
right 1
Write the data Write the data
in the buffer. in the buffer.