IAI America XSEL-S - Manual (Page 102)

6. Program Construction for Operation
96
6.1.2 GTVD (Vision System I/F Image-Capture Data Acquirement) Command
٨ GTVD (Get Vision Data)
Command and Declaration
Expansion
Condition
(LD,A,O,AB,OB)
Input Condition
(I/O • Flag) Command and
Declaration
Operation 1 Operation 2
Output section
(Output • Flag)
Free Free GTVD
Capturing
Trigger
Classification
Variable No. CC
= Function? This outputs the image-capture command to the Vision System I/F selected by SLVS
Command and stores the received image data to the variables and position data. With
one time of execution of this command, one image data can be obtained.
Operation 1 : Capturing Trigger Classification
1 : Immediate Image-Capture Command Output
2 : Image-Capture Command Input when Image-Capture Trigger Port
(Input Port and Flag) is on
(When conducting capturing image command with the detection
sensor input, etc.)
Operation 2 : Variable No.
(Note 1)
Assuming the variable number set in Operation 2 is “n”, set the following
contents to the continuous 8 variables after “n”.
Variable No.n : Top position number for image data work coordinates storage
No.1 to 12 … 1 to 12 positions of centers of work piece gravity
[Note] Make sure the continuous 12 positions after the
top position number are not in use.
Variable No.n+1 : Variable number for image data work attribute storage
[Note] Make sure the continuous 12 variables after the
top variable number are not in use. (Note 2)
Variable No.n+2 : Variable number for image data work quantity storage
Variable No.n+3 : Image-capture trigger input port number
(Valid only when Operation 1 = 2 is input)
Variable No.n+4 : Reserved (to be fixed to 0)
Variable No.n+5 : Reserved (to be fixed to 0)
Variable No.n+6 : Reserved (to be fixed to 0)
Variable No.n+7 : Reserved (to be fixed to 0)
(Note1) Select from the range of integral variables in the local or global field.
Local field : 1 to 91, 1001 to 1092
Global field : 200 to 292, 1200 to 1292
(Note2) Select from the range of integral variables in the local or global field.
Local field : 1 to 87, 1001 to 1088
Global field : 200 to 288, 1200 to 1288