ABB FlexLoader Vision Product Manual page 194

13 Robot integration
13.3.2 FlexLoader application functionality
Continued
Single camera feeder with post-pick adjustments
This example is valid for a feeder with a single camera, where the same camera
is used for picking from FP 400 and for post-pick adjustments. This can be used
for more exact positioning of the part in the gripper fingers.
In order to take the post-pick image, the vision setup must be changed during
operation. Therefore the vision system interaction is handled explicitly in the code,
Single camera feeder with additional camera for post-pick adjustments
This example is valid for a feeder, e.g. a FP 800 with an additional camera for
post-pick adjustments. All camera image acquisitions are controlled manually due
to process requirements.
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! definition in Vision.sys or InitializeCamX
PERS num BELT_ACTION{4}:=[RUN_NO_DETAIL, RUN_NEVER,
RUN_NEVER, RUN_NEVER];
PERS bool ALLOW_AUTO_GRAB{4}:=[TRUE, FALSE, FALSE, FALSE];
! do initial pick of part
RefPosInCam_1;
WaitUntil bCoordReceived{CAMERA_NO_1}=TRUE;
SetNextTarget CAMERA_NO_1;
PickCam_1;
! prepare for post-pick image with FLV position 2
BELT_ACTION{CAMERA_NO_1}:= RUN_NEVER;
DisablePosition CAMERA_NO_1, 1000;
EnablePosition CAMERA_NO_1, 2;
MoveRobotToPositionForSecondImage;
! Confirm first image and take new image
ConfirmPick1;
WaitUntil bCoordReceived{CAMERA_NO_1}=TRUE;
SetNextTarget CAMERA_NO_1;
IF nAction{CAMERA_NO_1} <= NO_DETAIL THEN
! handle that no part is found
EXIT;
ENDIF
! Use information from the second image as you need
! data can be found in pPick
! revert to previous settings
BELT_ACTION{CAMERA_NO_1}:= RUN_NO_DETAIL;
DisablePosition CAMERA_NO_1, 1000;
EnablePosition CAMERA_NO_1, 1;
RefPosOutCam_1;
! run application part
%"Cam"+ValToStr(CAMERA_NO_1)+"Position_"+ValToStr(nPosition)%;
! definition in Vision.sys or InitializeCamX
PERS num BELT_ACTION{4}:=[RUN_NEVER, RUN_NEVER,
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B