4.7.2. Robot Work Program

4.7.2. Robot Work Program

 

The following code is an example of a robot work program which performs RS232 communication. Add the following code to the communication part with “HRVision Press”.

 

' P1, P2 : Robot grip point               P1=(X1,Y1,Z1,RX1,RY1,RZ1,CFG) ‘Upper side of the grip point              P2=(X2,Y2,Z2,RX2,RY2,RZ2,CFG) ‘Grip point              R1=(0,0,0,0,0,0)R              CLR232C 2          ‘COM2 Port Buffer Clear              _TEINPUT=13      ‘Carriage Return              _TEINPUT=10      ‘Line Feed              V1$=""              V2$="" S1         MOVE P,S=100%,A=0,T=1 ‘Robot standby position              PRINT #2,"TRACK 01“       ‘Model 1 recognition command              V5%=0              INPUT #2,V5%,5,*ERROR ‘Receives the number of errors detected              IF V5%>0 THEN              GOTO *OK              ELSE              GOTO *NG              ENDIF              *OK              CLR_RBUF #2              R1.CFG.REQ=2              PRINT #2,"CAMSFT 01“    ‘Requests the Shift Data of Camera 1              WAIT R1.CFG.ASSIGN      ‘Shift Data Receive              IF R1.RX=1 THEN             ‘If RX=1, Camera 1 recognition failure              PRINT #0,"CAM1 ERROR"              ELSE               ‘Work to be performed S2         MOVE P,P1+R1,S=80%,A=0,T=1 S3         MOVE L,P2+R1,S=80%,A=0,T=1              END              *NG              PRINT #0,"Vision NG“              END              *ERROR              PRINT #0,"Comm. NG“              END

 

The following code is an example of a robot work program which performs Ethernet communication. Add the following code to the communication part with “HRVision Press”.

 

' P1, P2 : Robot grip point              P1=(X1,Y1,Z1,RX1,RY1,RZ1,CFG) ‘Upper side of the grip point              P2=(X2,Y2,Z2,RX2,RY2,RZ2,CFG) ‘Grip point              R1=(0,0,0,0,0,0)R              'ENET Comm. Setup              'Vision PC              ENET1.IP="10.8.1.179"              ENET1.RPORT=2000              ENET1.LPORT=5000              ENET1.OPEN 1              _TEINPUT=13      ‘Carriage Return              _TEINPUT=10      ‘Line Feed              'Buffer Clear              CLR_RBUF ENET1           ‘ENET Buffer Clear              V1$=""              V2$="" S1         MOVE P,S=100%,A=0,T=1             ‘Robot standby position              PRINT ENET1,"TRACK 01"             ‘Model 1 recognition command              V5%=0              INPUT ENET1,V5%,5,*ERROR    ‘Receives the number of errors detected              IF V5%>0 THEN              GOTO *OK              ELSE              GOTO *NG              ENDIF              *OK              R1.CFG=17              PRINT ENET1,"CAMSFT 01"        ‘Request for the Shift Data of Camera 1              INPUT ENET1,R1,3,*ERROR        ‘Shift Data Receive              R1.CFG=32              IF R1.RX=1 THEN                      ‘IF RX=1, Camera 1 recognition failure              PRINT #0,"CAM1 ERROR"              ENDIF               ‘Work to be performed S2         MOVE P,P1+R1,S=80%,A=0,T=1 S3         MOVE L,P2+R1,S=80%,A=0,T=1              END              *NG              PRINT #0,"Vision NG“              END              *ERROR              PRINT #0,"Comm. NG“              END