4.7.2. 로봇 작업프로그램

4.7.2. 로봇 작업프로그램

 

아래 코드는 Hi5제어기의 RS232 통신을 이용하여 비전시스템과 연동하는 로봇 작업 프로그램 예제입니다. HRVision 2.5D와 통신해야하는 부분에 아래 코드를 추가해 주십시오.

 

' P1, P2 : 로봇 파지점          P1=(X1,Y1,Z1,RX1,RY1,RZ1,CFG) ‘파지작업점 상단         P2=(X2,Y2,Z2,RX2,RY2,RZ2,CFG) ‘파지작업점         R1=(0,0,0,0,0,0)R         R8=(0,0,0,0,0,0)R         CLR232C 2       ‘COM2 Port Buffer Clear         _TEINPUT=13    ‘Carriage Return         _TEINPUT=10    ‘Line Feed         V1$=""         V2$="" S1      MOVE P,S=100%,A=0,T=1  ‘로봇 대기 위치         V3$="MODEL 01"         PRINT #2,V3$         DELAY 1         V4$="START 05"  ‘Depth Calculation         PRINT #2,V4$ INPUT #2,V1$,4         V2$=LEFT$(V1$,2)         IF V2$="OK" THEN         GOTO *DepthCal         ELSE         GOTO *VisionNG         ENDIF         *DepthCal         R1.CFG.REQ=2         PRINT #2,"SHIFT 1"         WAIT R1.CFG.ASSIGN,3,*ERROR         PRINT #0,"X :";R1.X,"Y :";R1.Y,"Z :";R1.Z         LP1=P*         ‘Current Robot Position S2      MOVE P,LP1+R1,S=20%,A=0,T=12   ‘Move Image Acqusition Position         DELAY 0.5         CLR232C 2         V1$=""         V2$=""         V3$="MODEL 01"         PRINT #2,V3$         DELAY 1         V4$="START 02"         ‘2D Vision Calculation         PRINT #2,V4$         INPUT #2,V1$,4         V2$=LEFT$(V1$,2)         IF V2$="OK" THEN         GOTO *VisionOK         ELSE         GOTO *VisionNG         ENDIF             *VisionOK         DELAY 0.5         R8.CFG.REQ=2         PRINT #2,"SHIFT 8"         WAIT R8.CFG.ASSIGN,3,*ERROR         PRINT #0,"X :";R8.X,"Y :";R8.Y,"RZ :";R8.RZ         R8.Z=R1.Z      ‘수행할 작업 S3      MOVE P,P1+R8,S=80%,A=0,T=1 S4      MOVE L,P2+R8,S=80%,A=0,T=1         END         *VisionNG         PRINT #0,"Vision NG“         END         *ERROR         PRINT #0,"Comm. NG“         END

 

 

Hi4a 제어기를 사용할 경우에는 “SHIFT데이터” 수신 부분을 아래와 같이 변경하여야만 실행 됩니다.

 

R1.CFG=4         PRINT #2,"SHIFT 1"         WAIT R1.CFG AND &B10000,3,*VisionNG

 

 

아래 코드는 Ethernet 통신을 수행할 경우의 로봇 작업 프로그램 예제입니다. HRVision 2.5D와 통신해야하는 부분에 아래 코드를 추가해 주십시오.

 

 

' P1, P2 : 로봇 파지점          P1=(X1,Y1,Z1,RX1,RY1,RZ1,CFG) ‘파지작업점 상단         P2=(X2,Y2,Z2,RX2,RY2,RZ2,CFG) ‘파지작업점         R1=(0,0,0,0,0,0)R         R8=(0,0,0,0,0,0)R         'ENET Comm. Setup         'Vision PC         ENET1.IP="10.8.1.179"         ENET1.RPORT=2000         ENET1.LPORT=5000         ENET1.OPEN 1         _TEINPUT=13    ‘Carriage Return         _TEINPUT=10    ‘Line Feed         'Buffer Clear         CLR_RBUF ENET1  ‘ENET Buffer Clear         V1$=""         V2$="" S1      MOVE P,S=100%,A=0,T=1  ‘로봇 대기 위치         V3$="MODEL 01"         PRINT ENET1,V3$         DELAY 1         V4$="START 05"  ‘Depth Calculation         PRINT ENET1,V4$         INPUT ENET1,V1$,4         V2$=LEFT$(V1$,2)         IF V2$="OK" THEN         GOTO *DepthCal         ELSE         GOTO *VisionNG         ENDIF         *DepthCal R1.CFG=17         PRINT ENET1," SHIFT 1" ‘Depth Data Request         INPUT ENET1,R1,3,*ERROR ‘Shift Data Receive         R1.CFG=32         PRINT #0,"X :";R1.X,"Y :";R1.Y,"Z :";R1.Z         LP1=P*         ‘Current Robot Position S2      MOVE P,LP1+R1,S=20%,A=0,T=12   ‘Move Image Acqusition Position         DELAY 0.5         CLR_RBUF ENET1  ‘ENET Buffer Clear         V1$=""         V2$=""         V3$="MODEL 01"         PRINT ENET1,V3$         DELAY 1         V4$="START 02"         ‘2D Vision Calculation         PRINT ENET1,V4$         INPUT ENET1,V1$,4         V2$=LEFT$(V1$,2)         IF V2$="OK" THEN         GOTO *VisionOK         ELSE         GOTO *VisionNG         ENDIF             *VisionOK R1.CFG=17         PRINT ENET1," SHIFT 8" ‘Depth Data Request         INPUT ENET1,R8,3,*ERROR ‘Shift Data Receive         R1.CFG=32         PRINT #0,"X :";R8.X,"Y :";R8.Y,"RZ :";R8.RZ         R8.Z=R1.Z      ‘수행할 작업 S3      MOVE P,P1+R8,S=80%,A=0,T=1 S4      MOVE L,P2+R8,S=80%,A=0,T=1         END         *VisionNG         PRINT #0,"Vision NG“         END         *ERROR         PRINT #0,"Comm. NG“         END