ABB FlexLoader Vision Product Manual page 259

VisionCom.mod
This module contains routines needed for background communication between
the robot and FlexLoader Vision and must not be changed.
VisionCom synchronizes the vision system and conveyor events with robot program
execution. It relieves the foreground task from handling feeding devices and
coordinate reception from the vision system.
Important routines
Routine
BeltReadyTrap1..4
CoordTrap
Vision.sys
This module contains some routines needed for communication between the robot
and FlexLoader Vision and must not be changed.
Normal use
Important data
Routine
BELT_ACTION{4}
AL-
LOW_AUTO_GRAB{4}
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
Handles notifications from the feeder system.
Receives all coordinate and result information from the vision
system.
Description
Must be set according to the desired system behaviour for each
camera. Normally set from InitializeCamX in ModCamX.
• RUN_ONE_DETAIL (default): Run the conveyor belt directly
after the last detail has been picked.
• RUN_NO_DETAIL: Run the conveyor belt directly after the
last detail has been found in the image.
• RUN_NEVER: Never run the conveyor belt.
• RUN_MANY_DETAILS: Run the conveyor belt after each
pick.
Note
When running with the setting RUN_NEVER, e.g. when picking
from pallets: If FlexLoader Vision does not find anything after
taking a new image, the robot must have some type of manage-
ment for this. The user must check the Action variable before
calling up SetNextTarget. If it is equal to 1 (NO_DETAIL) the ap-
propriate action must be taken, for example by taking a new image
several times before the cell is stopped. If SetNextTarget is called
up when Action is 1, the robot program stops.
Must be set according to the desired system behaviour for each
camera. Normally set from InitializeCamX in ModCamX.
• TRUE: When the belt has been run and the InPosition sig-
nal set a new image is taken by the automatic device.
• FALSE: Imaging must be explicitly initiated by the robot
program by calling up GrabImage.
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B FlexLoader RAPID reference
B.2 FlexLoader Vision interface
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