IAI America XSEL-S User Manual
Page 103
6. Program Construction for Operation
97
x
Return Code in GTVD Command (Variable 99 (Local Space))
The result in GTVD execution is stored in Variable 99 as a return code.
0 : Completed in normal condition
1 : Work Information Acquirement WAIT Timeout
2 : GTVD Timer cancelled (condition that the waiting status is cancelled by TIMC
Command)
3 : Vision System Unset Detection (SLVS Command not executed, etc.))
4 : Work Detection Cancel Status Detection (errors, etc.)
Note :
x
SLVS and GTVD Commands can be executed only on the same program (task)
x
Receivable communication formats can be switched in I/O Parameter No.352, Bits 0 to 7.
x
The system is capable to obtain the work data (coordinates and attributes) of 12 work pieces
in 1 shot of image capturing.
Error No.417 is issued when 13 or more work pieces are detected in 1 shot, and “4: Work
Detection Cancel Status Detection (error, etc.)” is set to the return code.
For the specified vision systems, the maximum value may differ. [Refer to the cautions for
use at the beginning of this manual.]
x
Error No.416 (Received Message Error) is issued when there is an error in the received
message during SLVS Command execution.
Check the communication format selection parameter (I/O Parameter No.352 or Bits 0 to 7)
settings and the output communication format on Vision System side.
x
There will be no change in the variables for work attribute storage and the position data when
the quantity of detected work piece in the received image data is 0.
x
It is prohibited to capture an image during the movement of the robot if the camera is
mounted on the robot.
Make sure to capture an image in the stop condition.
An accurate work data cannot be acquired if a capturing is conducted during the robot
movement.
GTVD
n
n
a
b
c
d
0
0
0
0
n+1
n+2
n+3
n+4
n+5
n+6
n+7
No.
Variable
1 or 2
a
a+1
a+11
No.
Position Data
c
No.
Variable
b
b+1
b+11
No.
Variable
If 2 is selected
Work 1 Coordinate
Work 1 attribute
Work 2 attribute
Work 12 attribute
Work 2 Coordinate
Work 12 Coordinate
Quantity of work pieces
External Image-Capture Trigger
Flag or Input Port Number