Doosan M0609 Reference Manual page 117

No. Item
1 Select Vision Job
2 Move to Shoot Pose
3 Display Image
Live/
4
Shoot
5 Vision Variable
Advanced Option > Vision
6
Exception
If an object is measured after the Shoot button is clicked, the object must not move
until MoveL completes Get_pose. If the object is moved before Get_pose is
complete, the robot will not move to a desired point during Vision offset.
The Vision Job List configured in the Workcell Manager displays the
image of the Vision Job selected from the popup list.
 Selecting a Vision Job using Select Vision Job enables Vision-
related functions.
 The Vision Variables of Tools included in the Vision Job can be
obtained.
A Vision Job can be selected.
Move to the Shoot Pose of the job selected with Select Vision Job.
Disabling this option means that the Shoot Pose configured for the
Vision Job will not be used.
Default image, Live image and Shoot image are displayed.
Tap the Live button to display the live image.
Tap the Shoot button to display the test result image.
 Obtains data of the Vision Tool added to the Vision Job with the
Workcell Manager, and adds it to the Vision Variable list.
Live mode ends after 5 minutes of no action.
Displays the data list of the Vision Tools added to the Vision Job.
Press each item to view the values of the current Tool.
Select an action if Vision measurement fails.
Retry: Set the number of Retry attempts if measurement fails. (Initial
measurement + up to three retry attempts)
Skip Vision: Skips the failed measurement stage and retries
measurements according to the number of Retry attempts.
Stop Task: Stops the Vision Task if measurement fails.
117
Description