Hello,
I am using a Fanuc SCARA that is connected to a vision controller from Keyence (CVX 320A). There are 2 stationary cameras connected to the vision controller in order to pick 2 different parts from 2 different surfaces.
I received a couple of Karel programs from keyence to communicate with the vision controller. But whenever I trigger the cameras, only one camera is actually triggered and sends the coordination of a part (works quite well actually). But the other one is never triggered. I know that there is something missing, I just don’t know what it is. Probably another argument that I have to send to the camera...
Code is:
12: !Opens the connection.
13: CALL KEY_CONNECT
15: !Issues the trigger.
16: CALL KEY_SEND_CMD('TA')
17: !Waits for the reply and
18: !sets the reply to R20.
19: CALL KEY_WAIT_CMD('TA',20)
20: IF R[20]<>0,JMP LBL[999]
21:
22: !Receives the values and
23: !sets received values to R30,31,.
24: CALL KEY_RECV_VAL(30)
25:
26: !Moves to the detected position.
27: IF R[36]<>0,JMP LBL[1]
28: PR[10,1]=R[30]
29: PR[10,2]=R[31]
30: PR[10,3]=R[32]
31: PR[10,4]=R[33]
32: PR[10,5]=R[34]
33: PR[10,6]=R[35]
34:L PR[10] 400mm/sec FINE
35: LBL[1:MOVE END]
36:
37: LBL[999:END]
38: !Closes the connection.
39: CALL KEY_CLOSE
I’d really appreciate any help