Posts by andreic

    Thank you all for your response, but after reading my post again and looking at the pictures I think my answer would be the same as yours: overexposure problems.
    So let me add some more info:

    - we are using infrared lighting, but the the problem appears even if the ringlight is turned off.
    - in the "nok2_pic" image there is a "crop" (missing pixels) at the middle of the image. This black line can appear in other places of the image also (can be bigger or smaller), but it's always on horizontal direction.
    - all the programs are aborted, the exposure time is Fixed in the vision process. Even if it's an Override instruction somewhere in the program, it cannot be executed because no program is running.
    - the system works ok for days, then it starts to do this kind of problems, then it works ok again.
    - the picture are taken from SNAP&FIND from IE, but it's the same with black lines in iRVision Runtime page.

    I'm starting to think that there is something wrong with main board...


    Unfortunately we are having some problems with the iRVision system. We are having an R30iB Mate controller with a Sony XC56 camera. It seems the connection breaks between the controller and the camera. See the attached pictures. The system was running fine for around 1 year or so.
    We have replaced the camera and the cable with no result. Sometimes it works normally, sometimes it works like in the attached pictures. All the adjustable dipswitches are set like is described in the manual. We have another 20 robots, same application, same version of software/hardware etc. working ok.
    What we've done until now:

    - replace camera.

    - replace cable.

    - measure camera temperature - 30 degrees C.

    - idle_cpu is around 80.

    - camera cable is shieldied in the controller.
    - camera cable is no near frequency inverters, motors, industrial equipment with magnetic field.

    Hello Axillus and welcome to the forum,

    There are some things to consider:

    1. I would replace WAIT FOR statement with a DELAY statement.
    2. If you want to run in parallel with other programs, as dha stated, you would start it with RUN.
    3. If you start it with RUN and you want to run it continously you will need another WHILE or REPEAT loop above WHILE (duration > clock_var) DO

    This loop will provide means on controlling the running/abort status of the program. Just use some virtual outputs (DO's mapped to rack 0, slot 0).
    If you want the program just to finish after logging the data at 20 sec interval you don't need this extra loop.
    In other case, run the program non-stop the program would look like :

      - start recording
        WHILE  (duration > clock_var) DO
      UNTIL DOUT[..]=OFF 

    And you make DOUT[...]=ON in the beginning of the program. If you want to cancel the program you just make DOUT[..]=OFF.

    And also take out SET_PERIOD routine.

    I've made some modifications to your code:

    The first thing when you record images on a flash drive in a FANUC robot, please test the usb manually by doing an AoA on it, copy files manually etc.
    After that if it's not working, then try to format it in your PC and again in the robot, then try it again. In my 8 years experience working with FANUC robots, I found that kingston dtse9 8 or 16 gb works the best with all the controllers that have usb port.

    I have stocked around 50 kingston usb drives just for using with FANUC robots :)