Caddquev (Reserved) - Omron SCARA YRCX Series User Manual

7.3.3
● Command
CADDQUEV
Description
This command adds the iVY2 search results as a queue element to the position monitoring queue.
The queue element is added to the end of the conveyor position monitoring queue that is specified with the counter
number. The specified coordinate data is saved as the position data on the Cartesian coordinates of the specified robot
number. The currently selected shift coordinates are not applied at this time.
For the position data added with this command, the counter pulse variation amount is compensated from the iVY2
capture point to when the queue element is added.
Note that if the maximum number of queue elements has been added to the position monitoring queue, further queue
elements cannot be added.
TIP
Refer to section "7.2 Position monitoring queue" for details on the position monitoring queue.
Tags and robots that work for queue element (target robot number) can be specified and added to the queue element.
NOTE
•The tag specified here can be obtained with the CGETTAG function. The process can be divided, etc.,
depending on the specified tag.
• The iVY2 search results are held for each task.
If a search result that is held by a task that is not specified by CTVISION ON is added as a queue element to the
position monitoring queue with this command, an alarm will occur. Tasks for which the search results are held
must be specified with CTVISION ON before searches are executed.
Refer to "7.3.24 CTVISION" for details on CTVISION.
7
Double-registration of queue elements can be prevented by specifying the judgment area distance.
The range having the specified coordinate data position as the center and the judgment area distance as the radius is
used as the double-registration judgment area. If a queue element that has already been added is found in the judgment
area, it is judged as a double-registration and is not registered. No alarm occurs at this time.
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.
<Task number>
Specifies the task number for holding the iVY2 search results.
One value between 1 and 16 can be specified. If omitted, the task number executing this command is specified.
<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.
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CADDQUEV (Reser ved)
CADDQUEV[robot number](task number) counter number, coordinate data, D = Judgment area distance,
TG = Tag RFG = [target robot number,...]
Adds a queue element of the iVY2 search results to the end of the position monitoring queue.
CADDQUEV
Judgment area distance option
<Judgment area distance>
Point being newly registered in the position monitoring queue
with CADDQUEV
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.
Queue elements already registered in the position
monitoring queue with CADDQUEV