Baumer VeriSens ID Series Technical Documentation Manual page 410

Program point
Robot Program
Vision Sensor Pick &
Place
MoveJ
'Vision Sensor Job
Execution Position'
Waypoint_1
Vision Sensor Job
Execution
If VS_NumObjects == 0
'Action if no objects
found'
Else
'While objects are in
result list'
Loop VS_NumObjects > 0 The loop is executed while there are still objects in the list
'Pre-Pick-Position'
Vision Sensor:
VS_Waypoint_1
'Pick-Position'
Vision Sensor:
VS_Waypoint_2
'Post-Pick-Position'
Vision Sensor:
VS_Waypoint_3
v2.11.0-B4
Settings
Name of the program
Definition of the type of movement with which the robot should move.
Where the robot should then move is determined later.
MoveJ = the robot moves its joints freely, it can rotate to the desired
position
MoveL = the robot moves in a straight line (linear) from one point to the
next
MoveP = the robot can make circular movements
Comment
Position where the robot should move to in order to perform the vision
sensor job. For example, in the case of stationary installation of the vision
sensor, the robot must be moved out of the field of view of the vision
sensor so that object positions can be found in the work area.
The job stored on the vision sensor (Find object positions) is selected
here.
If the number of found objects is 0, a message could subsequently be
defined that no objects were found. The robot then has no coordinates to
approach.
Comment
The Else branch specifies what to do when objects are found.
Comment
(VS_NumObjects> 0) received from the vision sensor.
Comment
The position above the first found object is approached. If necessary,
adjust the Z offset.
Comment
The robot moves to the position where the object is to be gripped.
NOTE
In the following step, a node should be inserted to control the
gripper. This is missing due to the large number of grippers to be
used in the example program.
Comment
The position is approached after grasping the object.
Here, the coordinates of the currently accessed object are removed from
the list.
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Technical Documentation
VeriSens
Baumer Optronic GmbH
Radeberg, Germany
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