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[Sample sentence]
100 IF M_NVOPEN(1)<>1 THEN 'If vision sensor number 1 log on is not complete
110
NVOPEN "COM2:" AS #1
120 ENDIF
130 WAIT M_NVOPEN(1)=1
completed.
140 NVPST #1,"TEST","E76","J81","L84",1,10
'Starts the "Test" program, receives the recognition count from the E76 cell and the recognition results
from cells J81 through L84, and stores this in M_NVS1 ().
150 'Processes referencing the acquired data.
160 ・・・・
300 NVCLOSE #1
[Explanation]
1) Starts the specified vision program on the specified vision sensor and receives the results.
2) 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.
3) If the specified <vision program name> is already loaded, processing is executed without loading the
program, so the processing time is shortened.
4) When this command is used with multi-tasking, it is necessary to execute the NVOPEN command in the
task using this command. Also, use the <vision sensor number> specified with the NVOPEN command.
5) When type from "4" to "7" is specified for <Type>, the improvement of the data receiving speed from the
Vision Sensor can be expected.
A specified position of <Start Cell> and <End Cell> is different depending on a specified value of <Type>,
and refer to "Job Editting" Screen - "Result Cell Position" Tab of MELFA-Vision for a specified position.
6) A program start condition of "Always" and the continue function are not supported.
7) When multi-mechanism mode is used, specified the <Start cell> and <End cell> to acquire information
for the number of robots used and specify a type from "1" to "3".
Example: Handling of vision sensor information on only one mult-mechanism mode
When as in the figure above, the information to the first robot is stored in vision program sheet cells
<J96> through <M98> and the information to the second robot is stored in cells <O96> through <R98>,
<J96> and <M98> are specified as the <Start cell> and <End cell>.
When "1' is specified as the type with the NVPST command, it is stored in M_NVS1() as follows.
Column
Row
1
347.147 -20.232 -158.198 97.641 0.0 0.0
2
381.288 49.018
3
310.81
4
0.0
5
0.0
'Connects with the vision sensor connected to COM2.
' Connects with vision sensor number 1 and waits for logon to be
'Cuts the line with the vision sensor connected to COM2.
1
2
3
10.846
43.65
-34.312
0.0
0.0
0.0
0.0
4
5
6
97.048 0.0 0.0
0.0
0.0 0.0
0.0
0.0 0
0.0
0.0 0
Vision Sensor Dedicated Commands and Status Variables 9-92
9 Detailed Explanation of Functions
7
8
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0
0
0
0
0
0
9
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