Mitsubishi Electric CR800 Series Instruction Manual page 148

15 Maintenance of robot program
(8) It is possible to specify the timeout time by the numerical value. Within the timeout time, does not move to
the next step until the results are received from the vision sensor. However, if the robot program is stopped,
this command is immediately cancelled. Processing is continued with a restart.
(9) When this command is used with multi-tasking, it is necessary to execute the NVOpen command in the
task using this command. In this case, use the <vision sensor number> specified with the NVOpen
command.
(10) A program start condition of "Always" and the continue function are not supported.
(11) If an interrupt condition is established while this command is being executed, the interrupt processing is
executed immediately even during processing of this command. The processing is executed after
completing the interrupt processing.
< Value of the variable>
The variable by executing the EBRead command is as follows.
(A) Content of specified tag (Pattern_1.Number_Found) is 10
(a) The value when "EBRead #1,"Pattern_1.Number_Found",MNUM" is executed is :
-> MNUM=10
(b) The value when "EBRead #1,"Pattern_1.Number_Found",CNUM" is executed is :
-> CMNUM="10"
(B) Content of specified tag (Job.Robot.FormatString) is 2, 125.75, 130.5, -117.2, 55.1, 0, 16.2
(a) The value when "EBRead #1,,MNUM,PVS1,PVS2" is executed is :
-> MNUM=2
PVS1.X=125.75 PVS1.Y=130.5 PVS1.C=-117.2
PVS2.X= 55.1
* The element (Excluding X and Y element) that the vision data is not set is 0.
(b) The value when "EBRead #1,,MNUM,MX1,MY1,MC1,MX2,MY2,MC2" is executed is :
-> MNUM=2
MX1=125.75 MY1=130.5 MC1=-117.2
MX2=55.1
(c) The value when "EBRead #1,,CNUM,CX1,CY1,CC1,CX2,CY2,CC2" is executed is :
-> CNUM="2"
CX1="125.75" CY1="130.5" CC1="-117.2"
CX2="55.1"
(C) Content of specified tag (Job.Robot.FormatString) is 2, 125.75, 130.5
(a) The value when "EBRead #1,,MNUM,PVS1" is executed is :
-> MNUM=2
PVS1.X=125.75 PVS1.Y=130.5
* The element (Excluding X and Y element) that the vision data is not set is 0.
(12) If data type for an argument is incorrect, L4220 (syntax error in input command statement) error is
generated.
(13) If there is an abnormal number of command arguments (too many or too few), L3120 (incorrect argument
count) error occurs.
(14) If the <vision sensor number> is anything other than "1" through "8", L3110 (argument out of range) error
occurs.
(15) If the NVOpen command is not opened with the number specified as the <vision sensor number>, L3141
(The NVOpen command is not executed.) error occurs.
(16) If data type of the strings data received from the vision sensor and the variable substituted for it is difference,
L3501 (Illegal Receive data(EBREAD)) error is generated.
(17) If the <Timeout> is other than "1" – "32767", L3110 (argument out of range) error occurs.
(18) If the vision sensor does not respond without the time specified as the <Timeout> or within the first 10
seconds if the <Timeout> parameter is omitted, L8632 (vision sensor response timeout) error occurs.
(19) If the communications line is cut while this command is being executed, L8610 (abnormal communications)
error occurs and the robot controller side line is closed.
(20) If the specified tag name does not exist in the active vision program, L8636 (Vision Tag name is abnormal)
error is generated.
(21) Please specify 31 variables or less
( 'number of the recognition' +' position in the coordinate (X,Y,Z)' x 10 ) .
If 32 variables or more are specified, L4220 (syntax error in input command statement) error is generated.
(22) If the <vision program name> exceeds 15 characters, L8621 (abnormal vision program name) error occurs.
15-136 MELFA-BASIC V or MELFA-BASIC VI instruction
PVS2.Y= 0, PVS2.C= 16.2
MY2=0 MC2=16.2
CY2="0" CC2="16.2"