I have a robot that picks and places from 4 different stations. Could I place a part in station B, and then while moving to station c trigger a "run_find" on a fixed mounted camera that checks something on the part in station B?
Running irision "in the background" (no BG logic)
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IRockWell -
April 17, 2024 at 6:15 PM -
Thread is Unresolved
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Yes. There's a few different ways, but perhaps the simplest is to create a non-motion Macro that can be triggered by a signal. Setting that signal can trigger the Macro to execute "in the background", asynchronously with the robot's motion program.
One thing you'll have to account for is that the Macro and the motion program will need a way to communicate -- for example, once the motion program returns to a step where it needs the vision results, it will need some Register or Flag from the Macro that indicates if the irVision program ran successfully, or if there were an error. The motion program will need to branch based on that indicator -- either run VISION_GET_RESULTS to obtain the offsets from the last irVision run, or perhaps CALL the Macro for a second attempt if the first attempt failed, and so on.
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Perfect! thanks for the in depth response!