PROGRAM VISLINK
%COMMENT = ''
%ALPHABETIZE
%CMOSVARS
%SYSTEM
BEGIN
FORCE_SPMENU (TP_PANEL,SPI_TPUSER,1)
FORCE_LINK(TP_PANEL,'http://robotip:robotport/FRH/VISION/VREMAN.STM')
END VISLINK
Try something along these lines.
PROGRAM VISLINK
%COMMENT = ''
%ALPHABETIZE
%CMOSVARS
%SYSTEM
BEGIN
FORCE_SPMENU (TP_PANEL,SPI_TPUSER,1)
FORCE_LINK(TP_PANEL,'http://robotip:robotport/FRH/VISION/VREMAN.STM')
END VISLINK
Try something along these lines.
Use GONE_TIME to get the time until the products exits from tracking boundary.
Easiest for me, but somehow limited is Roboguide's CadToPath option.
If you have SNPX protocol I think it would be better to use something like this:
https://www.plcdirect.eu/products/opera…ct/mt8050-start
and build a user interface.
WebURL for irVision Runtime: http://robot_ip/frh/vision/vrfrmn.stm
Try with FORCE_LINK(tp_panel,'URL')
You could write a small KAREL program to take the values from a .CSV file and write them to corresponding PR's.
Hello,
If you want to continuously RUN your program even if the main program is paused, you must set "Ignore pause" to ON. You can cancel exec of all programs by doing a FNCT->Abort All.
An approach is to use some flags, internal outputs or registers to communicate between main task and secondary tasks in your TP programming.
If it's the same part, why just not set allowed R to -180->+180 degrees?
On the same principle you can do an Vision Override and call it from TP program to override values which you setup in your GPM locator.
If above is possible, in my opinion it's easier to maintain.
If you are still going with 4 GPM's and 4 model ID's please make sure that you setup reference position for each model ID.
Hello,
Of course you can. Just double click on the robot and select "Serialize". You can change arm type, software versions, add/remove options.
If your GPM's refer to a standard shape (rectangle, circle, square) is very easy to use an XML file to automatically train a GPM.
Make sure your TCP is very accurately defined. Also do a camera calibration using Robot generated calib.
I have two questions:
1. Did you setup the tracking frame so that +X is pointing to the conveyor moving direction?
2. Did you setup boundaries correctly?
Another idea would be PickIt3D, but I did not use it yet.
Why are you using the vacuum sensor only in pick? Maybe an idea is to use a counter: check for RI[..] ON, place, check for RI[..] OFF, increment the counter, send counter value to the other robot.
Maybe another idea is to override exposure time and run more than once one GPM locator.