ABB FlexLoader Vision Product Manual page 260

B FlexLoader RAPID reference
B.2 FlexLoader Vision interface
Continued
Important routines
Routine
ConfirmPick1..4()
DiscardAndTakeNewIm-
age(nCamera)
DiscardAndStart-
Belt(nCamera)
GrabImage(nCamera)
InitFlexLoaderVision()
PvInputBox()
PvMessageBox()
SendPvStatus()
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260
Description
If SetNextTarget returns valid grip information, ConfirmPick must
be called up by the user to run the conveyor on and complete the
started grab-pick sequence. This usually occurs by calling up
RefPosOut.
Note
One GrabImage must always be confirmed with SetNextTarget
and ConfirmPick before the next GrabImage is started.
Called up by the user if a new image is to be taken in FlexLoader
Vision before all sent coordinates are used.
Note
Routines such as DiscardAndTakeNewImage() are to be used
with care. If the normal GrabImage-SetNextTarget-ConfirmPick
chain is deviated from, it is extremely important to have full control
of all image taking, to prevent that double images are taken (a
new image is taken before the previous image has been pro-
cessed).
Called up by the user in order to start the feeder before all sent
coordinates are used.
Note
Routines such as DiscardAndStartBelt() are to be used with care.
If the normal GrabImage-SetNextTarget-ConfirmPick chain is
deviated from, it is extremely important to have full control of all
image taking, to prevent that double images are taken (a new im-
age is taken before the previous image has been processed).
Called up by the user to take a new image with the selected
camera. The routine waits until the accompanying signal InPosi-
tion is 1 and sends a command to FlexLoader Vision to take a
new image with nCamera.
Note
Do not use GrabImage if the camera is set to AL-
LOW_AUTO_GRAB = TRUE (set in IntitializeCamX in ModCamX).
New images will be requested automatically after Con-
firmPick1..4().
Called up at the beginning of the program to initialize the commu-
nication with FlexLoader Vision.
Can be called up to write an input query on the FlexLoader Vision
user interface. The function returns the reply that the operator has
entered.
Can be called up to write a message on the FlexLoader Vision
user interface and read off the operator's reply (Ok, Yes, No).
Returns current operating status in FlexLoader Vision (PV_IDLE,
PV_OPERATION, PV_STARTING, PV_STOPPING).
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B