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AVAILABLE PRECISEVISION OPTIONS:
PVS0-SA-0001M - PreciseVision Multi-Instance PC Software License - Enhanced
version of PreciseVision PC that permits multiple instances of the vision software to
execute concurrently on a single PC. Each instance can execute its own set of vision
processes and can be interfaced to a different robot and to a different set of cameras.
SAMPLE VISION GUIDED MOTION CONTROL PROGRAM
On command from the robot program, a picture is taken and the image is analyzed. If a specific vision tool
finds a part, the robot moves above the part, reaches down to touch the part, moves back up and finally
moves to a safe location.
VISION
1 Public Sub MAIN
2 Dim vis As New Vision
3 Dim vResult As New VisResult
4
5 Robot.Attached = 1
6 Move.Loc (safe, vsProfile)
7
8 vis.Process(”Main”) ‘ Run vision process “Main”
9 If vis.ResultCount(”part1”) = 0 Then
10 Console.Writeline(”Vision object not found”)
11 Goto done
12 End If
13 vResult = vis.Result (”part1”, 1) ’ Get results
14
15 ‘ Create a reference frame object and set it
16 ’ equal to the returned vision location
17 Dim vsRefFrame As New RefFrame
18 vsRefFrame.Loc.PosWrtRef = vResult.Loc
19
20 ‘ Pickup point is relative to new frame
21 vsRelPoint.RefFrame = vsRefFrame
22
23 Move.Approach (vsRelPoint, vsProfile)
24 Move.Loc (vsRelPoint, vsProfile)
25 Move.Approach (vsRelPoint, vsProfile)
26
27 ’ Move back to safe location
28 Move.Loc (safe, vsProfile)
29
30 done:
31 End Sub
40
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