Hello,
I got a Fanuc M-430iA 4FH with a Vision camera and a conveyor.
The Vision camera finds the samples and when the sample is in the tracking area, I hear a 'click', whats means the servo's are ready for action.
Only in the program it stays on line 5 and 6 and in the display it says its on GETQ line 178. Does somebody knows what I am doining wrong?
Code
/PROG ___PICK
/ATTR
OWNER = MNEDITOR;
COMMENT = "";
PROG_SIZE = 537;
CREATE = DATE 17-01-12 TIME 14:35:10;
MODIFIED = DATE 17-01-18 TIME 12:00:08;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 20;
MEMORY_SIZE = 977;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
LINE_TRACK;
LINE_TRACK_SCHEDULE_NUMBER : 1;
LINE_TRACK_BOUNDARY_NUMBER : 1;
CONTINUE_TRACK_AT_PROG_END : TRUE;
/MN
1: UFRAME_NUM=0 ;
2: UTOOL_NUM=2 ;
3: R[3:VAC]=1 ;
4: ;
5: LBL[1] ;
6: CALL VSTKGETQ('WA1',1,100,2,R[3:VAC]) ;
7: IF R[2]=0,JMP LBL[2] ;
8: IF R[1]=1,JMP LBL[3] ;
9: JMP LBL[1] ;
10: ;
11: LBL[2] ;
12:L PR[R[3]] 250mm/sec CNT100 VOFFSET,VR[1] Tool_Offset,PR[10] Wjnt ;
13:L PR[R[3]] 500mm/sec CNT50 VOFFSET,VR[1] ;
14: DO[1:VAC_ON]=ON ;
15:L PR[R[3]] 250mm/sec CNT50 VOFFSET,VR[1] Tool_Offset,PR[10] Wjnt ;
16: CALL VSTKACKQ('WA1',1,1) ;
17: ;
18: R[3:VAC]=R[3:VAC]+1 ;
19: IF R[3:VAC]<=R[4],JMP LBL[1] ;
20: LBL[3] ;
/POS
/END
Display More
Thanks in advance.
Gr Michel