Omron SCARA YRCX Series User Manual page 35

NOTE
Use the "CADDQUEV" command to add an iVY2 search result as a queue element.
CADDQUE
Judgment area distance option
<Judgment area distance>
Explanation
<Robot number>
The robot number is used to specify the robot Cartesian coordinates that the specified coordinate data belongs to.
This can also be specified by a variable. If omitted, Robot 1 is specified.
For example, the point data coordinates of tracking with iVY2 (camera) is the robot Cartesian coordinates that has
performed camera calibration. Therefore, specify the number of the robot on which camera calibration has been
performed.
TIP
Refer to section "5.1 Interactive conveyor calibration setting method (With iVY2 system)" for details on camera
calibration.
<Counter number>
Specifies the conveyor position monitor queue by using the counter number.
Either 1 or 2 can be specified. This can also be specified by a variable.
<Coordinate data>
Specifies the position data to save in the queue element by using the coordinate data.
Either a point number or a function using the point data as a return value (ex. VGETPOS) must be specified for the
coordinate data. The data must be use a [mm] unit.
<Judgment area distance>
Specifies the distance for judging double-registration of the queue elements in the position monitoring queue using a real
number (unit: mm). This distance can also be specified by a variable.
The option parameter "Tracking CADDQUE Distance" value is adopted if this setting is omitted.
If a value of 0 or less is specified, both this value and the option parameter "Tracking CADDQUE Distance" value are
invalidated and the judgment of double-registration will not be carried out.
<Tag>
Specifies the tag for a queue element added to the position monitoring queue.
A value between -128 and 127 can be specified. If omitted or if a value not between -128 and 127 is set, 0 will be
specified.
NOTE
The tag specified here can be obtained with the CGETTAG function. The process can be divided, etc., depending
on the specified tag.
<Target robot number>
This number specifies the robot that works for the queue elements to be added to the position monitoring queue.
The specified robot position data will be stored in the queue elements. Maximum 4 robots can be specified as the target
robot number.
If omitted, all the existed robot will be the target. If the specified robot has not performed calibration, the robot position
data will not be stored. When no position data is stored for the queue elements, an alarm occurs.
NOTE
Commands such as "CCHKQUE" is executed by specifying robot number. The command target are the only
queue elements that has specified robot position data and is called "target queue element" among the position
monitoring queue elements.
Queue elements already registered in the position
monitoring queue with CADDQUE
Point being newly registered in the position monitoring queue
with CADDQUE
Since the point, which has already been registered, is included
in the judgment area, this point is judged as double-registration
and it is not registered.
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