Hi
I never had to use the RUN command in many years of programming.
Looks like I'm going to use it on my next project .
I need to take a picture every time after pick. NO question about it. I just want to save some time and take pictures while robot is moving instead of doing it purely sequential
Project
Stationary camera looking down to conveyor. It's not a irpicktool application. Conveyor will index when robot can not find more parts
This is my idea
**********************MAIN PROGRAM
RUN vision ("SR") I'm going to use AR and SR for the names. I've got 40 parts
label LOOP
Wait part found and get coord I know I have to take care of other thing but this is a general idea
Move to PICK with offsets Once I move to pick I'm blocking the FOV
Move to CLEAR of FOV point I want to take my new picture between the clear of fov and placing the part
RUN vision ("SR")
Move to PLACE away from FOV Hopefully at this point I'm getting the new coord from the new part
jump to LOOP
************************VISION
get the coord from part ("SR") Very simple program, no motion, just vision commands
I know I'm missing the "what happens if you dont find the part, etc,etc" That's not a problem
I need to take a picture every time after pick. NO question about it
Questions
1) when the command RUN is executed. Does execute vision from top to bottom and finishes it or keep looping ?
Basically, is it a "one shot" program ?
2) is there a command to stop the RUN program ? What is for some reason the program gets stack because the camera is not working or whatever ? I can't even think a good reason, but Can I stop it ?