Mitsubishi CR750-Q Series Instruction Manual page 147

sensor into the robot area
53 PVTR=(P_Zero/PWKPOS)*PTEACH
sensor and grabbing position
54 If PVTR.X<-PCHK.X Or PVTR.X>PCHK.X Then Error 9110 'The calculation result is greatly different
from the theory value.
55 If PVTR.Y<-PCHK.Y Or PVTR.Y>PCHK.Y Then Error 9110
56 Return
57 '
58 '##### Condition setting #####
59 *S30CONST
60 MDX = P_EncDlt(MENCNO).X
61 MDY = P_EncDlt(MENCNO).Y
62 MDZ = P_EncDlt(MENCNO).Z
63 MD = Sqr(MDX^2+MDY^2+MDZ^2)
64 MEI#=Abs((MVSL-MWKL)/MD)
65 Return
66 '
67 '##### VS recognition check processing #####
68 *S40CHKS
69 *LVSCMD
70 *LWAIT
71 MEC# = M_Enc(MENCNO)
72 MEM#=MEC#-MEP#
current position of the encoder
73 If MEM# > 800000000.0# Then MEM# = MEM#-1000000000.0#
74 If MEM# < -800000000.0# Then MEM# = MEM#+1000000000.0#
75 If Abs(MEM#) > MEI# GoTo *LVSTRG
and the camera startup setting value
76 Dly 0.01
77 GoTo *LWAIT
78 *LVSTRG
79 MEP#= MEC#
value
80 NVTrg #1, 5, MTR1#,MTR2#,MTR3#,MTR4#,MTR5#,MTR6#,MTR7#,MTR8#
encoder value acquisition
81 'Acquisition of recognition data
82 If M_NvOpen(1)<>1 Then Error 9100
83 EBRead #1,"",MNUM,PVS(1),PVS(2),PVS(3),PVS(4) 'Imaging request
84 If MNUM=0 Then GoTo *LVSCMD
85 If MNUM>4 Then MNUM= 4
86 For M1= 1 To MNUM
87 MX(M1)= PVS(M1).X
88 MY(M1)=PVS(M1).Y
89 MT(M1)= PVS(M1).C
90 Next M1
91 GoSub *S60WRDAT
92 Return
93 '
94 '##### Tracking data storage processing #####
95 *S60WRDAT
96 For M1= 1 To MNUM
recognized
97 PSW= P_Zero
98 PSW= PRBORG
99 PSW.X= PSW.X+MX(M1)
100 PSW.Y=PSW.Y+MY(M1)
101 PSW.C=PSW.C+MT(M1)
102 PRW=P_Zero
103 PRW= PSW*PVTR
104 PRW.FL1=P_100(MWKNO).FL1
105 PRW.FL2=P_100(MWKNO).FL2
106 Select MENCNO
107 Case 1
108 TrWrt PRW, MTR1#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number,
encoder number
'Vectors specifying the center of gravity of the vision
'Amount of movement per pulse (X)
'Amount of movement per pulse (Y)
'Amount of movement per pulse (Z)
'Calculation of the amount of movement per pulse
'Calculation of imaging start setting value
'Subtract the previous encoder pulse value from the
'Comparison between the amount of encoder movement
'Set the encoder pulse current position to the previous
'Communication error
'If no workpieces are recognized
'Set the maximum number (4)
'Repeat for the number of workpieces recognized
'Data acquisition
'Tracking data storage processing
'Perform processing for the number of workpieces
'Virtually move the robot close to the vision sensor
'Create the grabbing position
'Compensate for the error in the calculation value
21 Appendix
'Imaging request +
Sample Programs 21-137