Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 329

Motion SFC program
Alignment adjustment
[F0]
//Log onto vision system
MVOPEN K2
[G0]
//Confirm log on completion
(D2000==K20)*!M0
[F1]
//Load job
MVLOAD K1
[G1]
//Confirm load completion of job
(D3000==K1)*!M0
P0
[F2]
//Reset status storage device
MVFIN K2
[G2]
//Wait for trigger request
X0
[F3]
//Issue trigger to vision system
MVTRG K2
[G3]
//Wait for complete of image data reception
(D2000==40)*!M0
[F4]
//Calculate command position from image data
D4000L=LONG(D3010F*10000.0) //Axis 1 (X)
D4002L=LONG(D3014F*10000.0) //Axis 2 (Y)
[K1:Real]
1 ABS-2(Vector-speed)
D4000 μm
Axis 1,
D4002 μm
Axis 2,
Vector Speed 1000 mm/s
[G4]
//Wait for positioning completion
M2402*M2422
P0
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 (X0).
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).
Convert data [mm] stored in image data storage device
(D3010 to) into position command unit [0.1 μm].
Move to command position.
Wait for positioning completion (axis 1, axis 2 in-position).
6 COMMUNICATION FUNCTIONS
6.5 Vision System Connection Function
6
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