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9 Detailed Explanation of Functions
(2) Write the vision program for each vision sensor.
Log onto the connected vision sensors and write the vision program for each vision sensor. For details
on the logon method and vision program writing method, see "6.2 Work recognition test".
(3) Write the robot program to control multiple vision sensors.
Write a robot program like the following.
10 IF M_NVOPEN(1)<>1 THEN NVOPEN "COM2:" AS #1
20 IF M_NVOPEN(2)<>1 THEN NVOPEN "COM3:" AS #2
30 IF M_NVOPEN(2)<>1 THEN NVOPEN "COM4:" AS #3
40 WAIT M_NVOPEN(1)=1
50 WAIT M_NVOPEN(2)=1
60 WAIT M_NVOPEN(3)=1
70 NVPST #1,"Job1","E76","J81","L85",0,10 'Starts the vision program and acquires the results.
80 NVPST #2,"Job1","E76","J81","L85",0,10 'Starts the vision program and acquires the results.
90 NVPST #3,"Job1","E76","J81","L85",0,10 'Starts the vision program and acquires the results.
・・・・・・
・・・・・・ Operates the robot with the results received.
・・・・・・
200 NVCLOSE
9.4.2. Systems with one vision sensor and multiple robot controllers
This section only explains those aspects of the setting method for constructing a system with one vision
sensor and multiple robot controllers that are different from the contents covered in Chapter 5 through
Chapter 0.
This section shows a system with two robots as an example.
(1) Write the vision program for two robots.
See "6.2.3 Image processing settings" and on the "Image Processing Method Selection" screen, select
the template for two robots and write the vision program.
When the template for two robots is selected, on the "Job Editing" screen [Processing Condition] tab,
the calibration setting items for two robots are displayed.
(2) Execute the calibration work for two robots.
See "7.2 Calibration Setting" and execute the calibration work for two robots. When doing the work for
the second robot, change the "Robot datum" robot selection.
9-135 Detailed explanation of systems combining multiple vision sensors and robots
' Connects with vision sensor number 1 and waits for logon to be completed.
' Connects with vision sensor number 2 and waits for logon to be completed.
' Connects with vision sensor number 3 and waits for logon to be completed.
'Connects to vision sensor 1 (COM2).
'Connects to vision sensor 2 (COM3).
'Connects to vision sensor 3 (COM4).
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