abb集成视觉应用手册

Integrated Vision
Trace back information:

Workspace R15-2 version a20
Checked in 2015-10-22
Skribenta version 4.6.176

Integrated Vision
RobotWare 6.02
: 3HAC044251-010
: E
2013-2015 ABB
ABB ABB
ABB
ABB
ABB
ABB
2013-2015 ABB
ABB AB
Robotics Products
Se-721 68 Vsters
............................................................................................................................................. 7
IRC5 ................................................................................................................................. 9
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1
Integrated Vision
13
1.1
1.2
1.3
1.4
13
14
15
16
2.1
2.2
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Integrated Vision ........................................................................................
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17
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19
RobotStudio
21
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
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Options .......................................................................................
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FlexPendant
37
4.1
4.2
37
38
RobotWare Integrated Vision ...............................................................................

.......................................................................................................
Integrated Vision
41
5.1
5.2
5.3
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5.3.1 ................................................................................................
5.3.2 .......................................................................................
5.3.3 ..........................................................................................
5.4 .................................................................................................
5.5 ..........................................................................................................
5.6 ................................................................................................................
5.7 ....................................................................................................
5.8 RAPID ...................................................................................................
5.9 I/O ...........................................................................................................
5.10 RAPID ...............................................................................................
5.10.1 RobotStudio RAPID ..............................................................
5.10.2 ..........................................................................................
5.10.3 ..........................................................................................
5.11 ..........................................................................................................
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6.1
6.2
6.3
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6.3.1 ......................................................................
6.3.2 .......................................................................................
- Integrated Vision
3HAC044251-010 : E
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6.3.3
6.3.4
6.3.5
6.3.6
6.3.7
6.3.8
6.3.9
6.3.10
6.3.11
6.3.12
7
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RAPID
7.1
7.2
7.3
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.............................................................................................................
7.1.1 CamFlush - ..............................................................
7.1.2 CamGetParameter - .............................................
7.1.3 CamGetResult - ........................................................
7.1.4 CamLoadJob - ........................................................
7.1.5 CamReqImage - ...........................................................
7.1.6 CamSetExposure - ....................................................
7.1.7 CamSetParameter - .............................................
7.1.8 CamSetProgramMode - ...........................................
7.1.9 CamSetRunMode - .................................................
7.1.10 CamStartLoadJob - ...........................................
7.1.11 CamWaitLoadJob ................................................
................................................................................................................
7.2.1 CamGetExposure - ....................................................
7.2.2 CamGetLoadedJob - .........................................
7.2.3 CamGetName - ......................................................
7.2.4 CamNumberOfResults - ................................................
..........................................................................................................
7.3.1 cameradev - ............................................................................
7.3.2 cameratarget - .........................................................................
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- Integrated Vision
3HAC044251-010 : E
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Integrated Vision
Integrated Vision
ABB // ABB
//
- RobotStudio
3HAC032104-010
- FlexPendant IRC5
3HAC050941-010
- IRC5
3HAC020738-010
- RAPID
3HAC050917-010
- RAPID
3HAC050947-010
3HAC050948-010
Product manual - IRC5

- IRC5 Compact
Product manual - IRC5 Panel Mounted Controller
IRC5 DSQC 639
3HAC021313-001
3HAC035738-010
3HAC027707-001
Product manual - IRC5

- IRC5 Compact
Product manual - IRC5 Panel Mounted Controller
IRC5 DSQC1000
3HAC047136-001
3HAC047138-010
3HAC047137-001
- IRB 14000
3HAC052983-010
DVD
Cognex In-Sight 7000 Series Vision System Installation Manual P/N 597-0138-01
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
RobotWare 5.15.01
RobotWare 5.15.03 RobotWare 5.60
13Integrated Vision
17
32Options
33

43
76
RobotWare 5.61
RAPID ERR_CAM_COM_TIMEOUT
RobotWare 6.0
49
55
90
RobotWare 6.01
7
15
17

RobotWare 6.02
54
\AwaitCompleteRAPID98CamReqImage
RAPID - RAPID
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
IRC5
IRC5
ABB
ABB
ABB DVD IRC5
DressPack/SpotPack
Technical reference manual - Lubrication in gearboxes
- RAPIDRAPID
- RAPID RAPID
- RAPIDRAPID
I/O RAPID
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
IRC5
- IRC5 RobotStudio
Operating manual - Introduction to RAPID
- FlexPendant IRC5
- RobotStudio
- IRC5
10
- Integrated Vision
3HAC044251-010 : E
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I/O
(230 VAC).
400-480 VAC 700 VDC
(700 VDC)
(115/230 VAC)
/ - 1
- Integrated Vision
11
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1 Integrated Vision
1.1
1 Integrated Vision
1.1
Integrated Vision
ABB Integrated Vision
(VGR)
IRC5 RobotStudio
Cognex In-Sight
RobotStudio Cognex EasyBuilder

RAPID
Hardware
Cognex In-Sight 7000 series Cognex In-Sight
24 VDC
Cognex In-Sight 7000 Series Vision System Installation

Manual
3 RobotStudio RAPID IRC5

FlexPendant
RobotStudio VGR
IRC5 RAPID
RAPID
FlexPendant
FlexPendant SxTPU3 Integrated Vision
Integrated Vision 64 RobotStudio
RobotStudio Integrated Vision
RobotStudio Cognex EasyBuilder

Integrated Vision IRC5
- Integrated Vision
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1 Integrated Vision
1.2
1.2
FlexPendant
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- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
1 Integrated Vision
1.3 Integrated Vision
1.3 Integrated Vision
Hardware
IRB IRC5 FlexPendant

SxTPU3
Integrated Vision interface

-
Ethernet
Ethernet
IRC5 Ethernet
Ethernet
Ethernet 24 VDC
24 VDC
PC.
PC Ethernet
Cognex In-Sight
RobotStudio 5.60 RobotStudio
RobotWare 5.60
RobotWare Integrated Vision
Integrated Vision 41 Integrated Vision
- Integrated Vision
15
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1 Integrated Vision
1.4
1.4
Cognex EasyBuilder Cognex RobotStudio

Integrated Vision
Cognex In-Sight
Integrated Vision
(TCP)
RAPID RAPID
VGR
16
- Integrated Vision
3HAC044251-010 : E
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2
2.1
2
2.1
xx1200000992
24V
Ethernet Ethernet
Ethernet
Ethernet
20
24 VDC 24 VDC
20
- Integrated Vision
17
3HAC044251-010 : E
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2
2.1
Cognex In-Sight 7000 Series

7
18
- Integrated Vision
3HAC044251-010 : E
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2
2.2
2.2
RobotStudio
Integrated Vision RobotStudio
RobotStudio
RobotStudio
Integrated Vision
(Vision)
Integrated Vision
- RobotStudio

33
RobotStudio 3D
RobotWare IRC5
Integrated Vision RobotWare Integrated
Vision
RobotStudio RobotWare IRC5
- RobotStudio
- Integrated Vision
19
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3 RobotStudio
3.1
3 RobotStudio
3.1
Integrated Vision
A
F
C
D
E
xx1200000989
Results -
I/O - I/O
-
- Integrated Vision
21
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3 RobotStudio
3.2
3.2
Cognex RobotStudio
Cognex EasyBuilder Cognex RobotStudio

IRC5 Integrated Vision
GUI
RobotStudio
Help
Integrated Vision
Integrated Vision
Integrated Vision
...
...
EasyBuilder
(RobotStudio vision add-in)
(edit acquisition settings)
(Setup Image)
(calibrating the image to (Calibrate)

real world units)
22
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3 RobotStudio
3.3
3.3
Integrated VisionIntegrated
Vision
File
Integrated Vision
/
Button
RAPID
IP
IP
Properties
26
Button
- Integrated Vision
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3 RobotStudio
3.3
53
Button
RAPID
Button
RAPID
RAPID
Advanced
Integrated Vision41 Integrated Vision
RAPID
Button
RAPID 65 RAPID
Button
33
/
33
24
- Integrated Vision
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3 RobotStudio
3.3
Button
25
25
46
26
(0.016 to 100)
(0.016 to 100)
- Integrated Vision
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3 RobotStudio
3.4
3.4
RobotStudio
- RobotStudio
Integrated Vision
MAC
Integrated Vision
Camera
Advanced
Button
Integrated Vision
Integrated Vision
RAPID
Restart
Properties
Advanced
Configure Job Advanced

24
26
- Integrated Vision
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3 RobotStudio
3.5
3.5
Integrated Vision
Button
(ENTER)
(ESC)
90
PC
SHIFT +
CTRL +
CTRL + SHIFT +
Information
(R, G, B)@(x, y)
(, , )@(x , y )
- Integrated Vision
27
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2013-2015 ABB
3 RobotStudio
3.5
Information
28
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
3 RobotStudio
3.6
3.6
PC
59
PC
PC
PC
PC 10000
20
- Integrated Vision
29
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2013-2015 ABB
3 RobotStudio
3.7
3.7
I/O
I/O
I/O
22
30
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
3 RobotStudio
3.8
3.8
RAPID
- Integrated Vision
31
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3 RobotStudio
3.9 Options
3.9 Options
Options
File
Options
Integrated Vision
Integrated Vision
Immediate
Feedback
Camera Model
Cognex In-Sight
is7200
47
32
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
3 RobotStudio
3.10
3.10
Integrated Vision
Cognex In-Sight Explorer
RAPID
400 0 399
26 A Z A2
A
Cognex In-Sight Explorer
4096 FindBlobs
4096
RAPID
RAPID
RAPID RAPID
<Group>.<Result> mydata.data
RobotStudio GUI Integrated Vision GUI
Cognex EasyBuilder GUI

GUI
GUI
- Integrated Vision
33
3HAC044251-010 : E
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3 RobotStudio
3.10
RobotStudio
RAPID
CamGetParameter
CTRL + 1
Delete
/ RAPID
34
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
3 RobotStudio
3.10
.CXD
PC
.CXD PC
.CXD
.CXD
- Integrated Vision
35
3HAC044251-010 : E
2013-2015 ABB
4 FlexPendant
4.1 RobotWare Integrated Vision
4 FlexPendant
4.1 RobotWare Integrated Vision
FlexPendant Integrated Vision
FlexPendant - FlexPendant
IRC5
RobotWare Integrated Vision
ABB
- Integrated Vision
37
3HAC044251-010 : E
2013-2015 ABB
4 FlexPendant
4.2
4.2
A
E
C
D
xx1200000987
View
RAPID
30
38
- Integrated Vision
3HAC044251-010 : E
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4 FlexPendant
4.2
FlexPendant RobotStudio
29
Save
.bmp
"...\HOME\IV"
RAPID
(PERS) RAPID
RAPID
RAPID
60 RAPID
"...\HOME\IV" IVSetup.xml XML

IVSetup.xml FlexPendant
FlexPendant RobotWare Integrated Vision
- Integrated Vision
39
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5 Integrated Vision
5.1
5 Integrated Vision
5.1
17
42
43
53
54
55
74
58
RAPID
60 RAPID
64I/O
RAPID
65 RAPID
91RAPID
10
70
76
- Integrated Vision
41
3HAC044251-010 : E
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5 Integrated Vision
5.2
5.2
RAPID
TCP
MoveToDetectedObject
65RobotStudio RAPID
42
- Integrated Vision
3HAC044251-010 : E
2013-2015 ABB
5 Integrated Vision
5.3.1
5.3
5.3.1
IP
IP DHCP IP
RobotStudioRAPID
IP
RobotStudio IRC5
FTP
PC IP
PC
PC IRC5
RobotStudio
Integrated Vision
MAC
IP
45
10 Acquire Image
11 Rename
12 Rename RAPID Camera NameRAPID
RAPID
13
- Integrated Vision
43
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5 Integrated Vision
5.3.1
14
Communication
(SIO.cfg)IP
Disconnect
Communication (SIO.cfg)
RobotStudio Configuration Editor

Communication (SIO.cfg)
COM_APP:
-Name "MyCamera" -Type "CAMERA" -Trp "TCPIP1" -MAC "..."
RobotStudio Configuration Editor

- RobotStudio
-
44
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5 Integrated Vision
5.3.2
5.3.2
IP
IP
RAPID
RobotStudioCognex EasyBuilder
PC IP DHCP
Host Name Configuration

RAPID Camera NameRAPID
Telnet
IP PC
IP
PC IP DHCP
Apply
- Integrated Vision
45
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5 Integrated Vision
5.3.2
Integrated Vision
Cognex In-Sight RobotStudio
Integrated Vision 4.08.02 (023)
PC HOME
vc_network_definition.xml
vc_network_definition.xml PC HOME
PC IP
XML IP PC IP
<PORT name="SERVICE">
<IPaddress>192.168.125.100</IPaddress>
43
<?xml version="1.0" encoding="ISO-8859-1" ?>
<VC_NETWORK_DEF>
<PORT name="LAN">
46
- Integrated Vision
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5 Integrated Vision
5.3.2
<SubnetMask>255.255.252.0</SubnetMask>
</PORT>
<SubnetMask>255.255.255.0</SubnetMask>
</PORT>
</VC_NETWORK_DEF>
Integrated Vision PC
32Integrated Vision
PC
PC IP
PC DHCPPC IP
vc_network_definition.xml SERVICE IP PC IP
- Integrated Vision
47
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5 Integrated Vision
5.3.2
48
- Integrated Vision
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5 Integrated Vision
5.3.3
5.3.3
RobotStudio
RobotStudio "admin"
""
Set controller
user
(UAS)
UAS
UAS - RobotStudio
User Access Settings Cognex In-Sight

FTP User Access Settings
adminoperator monitor
FullProtected Locked
32
Set Controller user
Select User
OK
- Integrated Vision
49
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5 Integrated Vision
5.3.3
User Access Settings
User Name
30
Access
50
/ Protected
/
Full Locked
FullProtected
Locked
Protected FTP
FTP
51FTP
OK
RobotStudio
RobotStudio
admin
/
/ FTP
Cognex
Cognex In-Sight Explorer Users Guide
50
- Integrated Vision
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5 Integrated Vision
5.3.3
FTP
FTP FTP
FTP
FTP
Edit
50
admin
/FTP admin
Show Custom View at Log On

RobotStudio
Delete
- Integrated Vision
51
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5 Integrated Vision
5.3.3
admin
52
- Integrated Vision
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5 Integrated Vision
5.4
5.4
RobotStudio 43
Integrated Vision
(.job)
RAPID job
job
RAPID
RobotStudio
- Integrated Vision
53
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5 Integrated Vision
5.5
5.5
7679
77
Integrated Vision RAPID
RAPIDCamReqImage
RAPIDCamReqImage\AwaitComplete
\AwaitCompleteCamReqImage
54
- Integrated Vision
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5 Integrated Vision
5.6
5.6
74
Integrated Vision
57
xx1300001097
mm

- Integrated Vision
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5 Integrated Vision
5.6
RobotStudio
C:\...\ABB Industrial IT\Robotics IT\RobotStudio x.xx\Bin\Addins\IntegratedVision\PDF

Grids
X Y
Next
10
11
12
13
56
- Integrated Vision
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5 Integrated Vision
5.6
X Y
xx1200000994
TCP
X Y
- FlexPendant IRC5
- Integrated Vision
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5 Integrated Vision
5.7
5.7
/
.
PatMax
PatMax (1-10)
PatMax 10
x y
Blob
Blobs (1-10)
10 blob
blob X Y
Number To Find 1
Rotation Tolerance
+/-10 15
58
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5 Integrated Vision
5.7

/
PatMax
PatMax
/
Blob
Blobs (1-10)
blob
/ blob
PatMax
(1-10)
PatMax
/
//
- Integrated Vision
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5 Integrated Vision
5.8 RAPID
5.8 RAPID
RAPID
RAPID
RAPID
RAPID cameratarget
xx1300001098
RAPID RAPID
cameratarget
cameratarget
cameratarget
cameratarget 116
cameratarget -
cameratarget name
cameratarget
cameratarget
x, y, z,
"... /
"
60
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5.8 RAPID
RAPID cameratarget
z RAPID
RAPID pose
RAPID
RAPID
cameratarget type
RAPID
cameratarget
RAPIDCamSetRunModeRAPID

33
10 PatMax
Patterns (1-10) X
- Integrated Vision
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5 Integrated Vision
5.8 RAPID
Integrated Vision
xx1300001100
RAPID CamGetParameter
z RAPID
RAPID pose
Fixture.Score
1 0
0 1
Present Not
Present
1
0
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5.8 RAPID
0
1
- Integrated Vision
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5 Integrated Vision
5.9 I/O
5.9 I/O
I/O I/O
Inputs Outputs
Inputs Cognex I/O
Outputs Cognex I/O

LED
.
I/O
I/O .
I/O
I/O .
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5 Integrated Vision
5.10.1 RobotStudio RAPID
5.10 RAPID
5.10.1 RobotStudio RAPID
RAPID RAPID
RAPID RobotStudio RAPID
RAPID
RobotStudio RAPID
- RobotStudio
- Integrated Vision
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5 Integrated Vision
5.10.2
5.10.2
RAPID 91RAPID
RAPID 41
Integrated Vision
RAPID
RAPID
RobotStudio MoveToDetectedObject
65RobotStudio RAPID
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
...
PERS wobjdata mywobj := ... ;
PERS tooldata mytool := ... ;
PERS robtarget myrobtarget := ... ;
CONST string myjob := "myjob.job";
VAR cameratarget mycameratarget;
...
PROC MoveToDetectedObject()
CamSetProgramMode mycamera;
CamLoadJob mycamera, myjob;
CamSetRunMode mycamera;
CamReqImage mycamera;
CamGetResult mycamera, mycameratarget;
mywobj.oframe := mycameratarget.cframe;
MoveL myrobtarget, v100, fine, mytool \WObj:=mywobj;
ENDPROC
...
2-6
9 - 10
11 - 12
13
14
15
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5.10.2
RAPID -
FlexPendant IRC5
TCP
MoveL
mywobj mytool
myrobtarget Modify Position
- Integrated Vision
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5 Integrated Vision
5.10.3
5.10.3
ID
CONST string myjob := "myjob.job";

PERS robtarget myrobtarget :=
[[100,200,300],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
...
PROC integratedvisionadvanced()
VAR num mysceneid:=0;
VAR num myexposuretime:=10;
VAR bool targetsavailable := TRUE;
...
! Insert the code here
...
ENDPROC
CamStartLoadJob mycamera, myjob;
!MoveJ myrobtarget, v100, fine, toolvision \WObj:=wobjvision;
CamWaitLoadJob mycamera;
SceneId
SceneId
CamReqImage mycamera \SceneId:=mysceneid;

CamGetResult mycamera, mycameratarget \SceneId:=mysceneid;
5 ms
myexposuretime := CamGetExposure (mycamera \ExposureTime);
myexposuretime := myexposuretime + 5;
CamSetExposure mycamera \ExposureTime:=myexposuretime;
CamSetParameter mycamera, "Pattern_1.Tool_Enabled" \BoolVal:=FALSE;
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5 Integrated Vision
5.10.3
ERR_CAM_NO_MORE_DATA 69ERROR
CamReqImage mycamera \SceneId:=mysceneid;
WHILE targetsavailable DO
CamGetResult mycamera, mycameratarget \SceneId:=mysceneid;
TPWrite "Current camera target is: "
\Pos:=mycameratarget.cframe.trans;
ENDWHILE
IF CamGetLoadedJob(mycamera) <> myjob THEN

CamLoadJob mycamera, myjob;
ENDIF
CamGetResult mycamera, mycameratarget;

IF mycameratarget.name = "wrench" THEN
!Do something with the wrench
ELSEIF mycameratarget.name = "screwdriver" THEN
!Do something with the screwdriver
ENDIF
ERROR
ERROR
IF ERRNO = ERR_CAM_NO_MORE_DATA THEN
TPWrite "There are no more targets originating from image with
scene id "\Num:=mysceneid;
targetsavailable:=FALSE;
TRYNEXT;
ENDIF
- Integrated Vision
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5 Integrated Vision
5.11
5.11
RobotStudio
CamSetRunMode RAPID
FlexPendant
70
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6
6.1
6
6.1
WORLDBASE,
(mm)
Integrated vision
- FlexPendant
IRC5
WORLD
D
C
F
B
xx1200000993
WORLD
BASE
(tool0)
(robtarget)
Work object - user frame (wobj.uframe).
Work object - object frame (wobj.oframe).
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6.1
(work object)
C
(7, 0, 120)
(7, 0, 120)
(x, y, z)
(86, -45, 0)
(x, y, z)
(97, 42, 0)
xx1200000995
Work object - user frame (wobj.uframe).
Work object - object frame (wobj.oframe).
(robtarget) tool0
10 mm x y
mm
work object - user frame
10 mm x y z (97, 42, 0)
work object - object frame
work object - object frame 120 mm

x 7 mm (7, 0, 120)
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6.1
(86, -45, 0)
Work object - object frame
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6.2
6.2
VGR
Integrated Vision 2D
Integrated Vision
xx1200000996
55
Integrated Vision
X/Y X/Y
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6.2
X/Y
X Y
X/Y
(.cxd)
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6.3.1
6.3
6.3.1
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6.3.2
6.3.2
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6.3.3
6.3.3
79
-mm
78
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6.3.4
6.3.4
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6.3.5
6.3.5
RAPID 82
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6.3.6
6.3.6
RAPID
RAPID
PROC IV_Init(VAR cameradev cam,string jobname)

VAR num maxloadtime:=15;
CamSetProgramMode cam;
CamLoadJob cam,jobname\MaxTime:=maxloadtime;
CamSetRunMode cam;
MoveAbsJ safepos,v100,fine,tool0;
ERROR
IF ERRNO=ERR_CAM_BUSY THEN
TPWrite "ERR_CAM_BUSY. Calling RETRY";
WaitTime 1.0;
RETRY;
ELSEIF ERRNO=ERR_CAM_MAXTIME THEN
TPWrite "ERR_CAM_MAXTIME. Increasing timeout by 10s and calling
RETRY";
maxloadtime:=maxloadtime+10;
WaitTime 1.0;
RETRY;
ELSEIF ERRNO=ERR_CAM_NO_PROGMODE THEN
TPWrite "ERR_CAM_NO_PROGMODE. Setting camera to program mode
and calling RETRY";
WaitTime 1.0;
RETRY;
ENDIF
ENDPROC
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6.3.7
6.3.7
Pattern_1 Pattern_2
Item1 Item2
RAPID
PROC Enable_Disable_Tools(VAR cameradev cam,bool enabletool1,bool

enabletool2)
VAR string tool1_propertyname:="Pattern_1.Tool_Enabled";
VAR string tool2_propertyname:="Pattern_2.Tool_Enabled";
VAR string tool1_corresp_item_name:="Item1";
VAR string tool2_corresp_item_name:="Item2";
VAR num maxresulttime:=5;
CamSetParameter cam,tool1_propertyname\BoolVal:=enabletool1;
CamSetParameter cam,tool2_propertyname\BoolVal:=enabletool2;
CamSetRunMode cam;
CamReqImage cam;
CamGetResult cam,mycameratarget;
!Before using the result, make sure that it originates from an
enabled tool.
!Disabling tools reduces the processing time, but the latest
result produced by the tool is still communicated.
IF mycameratarget.name=tool1_corresp_item_name AND enabletool1
THEN
TPWrite "Received target of type "+mycameratarget.name+" with
position "\Pos:=mycameratarget.cframe.trans;
!Run the robot..
ELSEIF mycameratarget.name=tool2_corresp_item_name AND enabletool2
THEN
TPWrite "Received target of type "+mycameratarget.name+" with
position "\Pos:=mycameratarget.cframe.trans;
!Run the robot..
ENDIF
!Flush the result queue to get rid of any remaining targets.
CamFlush cam;
ERROR
WaitTime 1.0;
RETRY;
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6.3.7

TPWrite "ERR_CAM_MAXTIME. Increasing timeout by 5s and acquiring
new image";
CamFlush cam;
CamReqImage cam;
maxresulttime:=maxresulttime+5;
WaitTime 1.0;
RETRY;
ELSEIF ERRNO=ERR_CAM_NO_RUNMODE THEN
TPWrite "ERR_CAM_NO_RUNMODE. Setting camera to run mode and
calling RETRY";
WaitTime 1.0;
CamSetRunMode cam;
RETRY;
ELSEIF ERRNO=ERR_CAM_NO_PROGMODE THEN
TPWrite "ERR_CAM_NO_PROGMODE. Setting camera to program mode
and calling RETRY";
WaitTime 1.0;
RETRY;
ENDIF
ENDPROC
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6.3.8
6.3.8
RAPID FlexPendant explorer
85
VAR string campath;

VAR string controllerpath;
...
campath := CamGetName(mycamera) + ":/" + "myjob.job";
controllerpath := "HOME:/myjob.job";
CopyFile controllerpath, campath;
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6.3.9
6.3.9
RAPID
RobotStudio
PROC BackupCamToCtrl(var cameradev cam,bool replaceexistingfiles)

VAR string ctrldirname:="HOME/IV/";
VAR dir camdirectory;
VAR string camdirname;
VAR string tempfilename;
VAR string tempcamfilepath;
VAR string tempctrlfilepath;
...
camdirname:=CamGetName(cam)+":/";
ctrldirname:=ctrldirname+CamGetName(cam)+"/";
MakeDir ctrldirname;
OpenDir camdirectory,camdirname;
WHILE ReadDir(camdirectory,tempFileName) DO
tempcamfilepath:=camdirname+tempfilename;
tempctrlfilepath:=ctrldirname+tempfilename;
CopyFile tempcamfilepath,tempctrlfilepath;
ENDWHILE
CloseDir camdirectory;
ERROR
IF ERRNO=ERR_FILEEXIST THEN
IF replaceexistingfiles THEN
RemoveFile tempctrlfilepath;
RETRY;
ELSE
TRYNEXT;
ENDIF
ENDIF
ENDPROC
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6.3.10
6.3.10
A B
3
1
2 RAPID RAPID
3 RAPID
xx1300000190
(PatMax) A B
RAPID
RAPID
A_Chip B_chip
A A_Chip B
RAPID
RAPID
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6.3.10
...
CamGetResult mycamera, mycamtarget;
IF mycamtarget.name = "A_Chip" THEN
!Do something with the A-Chip
ELSEIF mycamtarget.name = "B_Chip" THEN
!Do something with the B-Chip
ENDIF
...
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6.3.11
6.3.11
RAPID
1 PatMax[1-10] Blob[1-10]
2 Output to RAPID RAPID
Part_A
Part_A
3 RAPID cameratarget
PROC Multiple_Target_Pick(VAR cameradev cam)

VAR bool continueloop:=TRUE;
VAR num maxresulttime:=5;
VAR num zoffset:=200;
CamReqImage cam;
WHILE continueloop DO
CamGetResult cam, mycameratarget;
camwobj.oframe:=mycameratarget.cframe;
MoveL offs(picktarget,0,0,zoffset), v500, z0, picktool
\WObj:=camwobj;
MoveL picktarget, v100, fine, picktool \WObj:=camwobj;
WaitTime 1.0;
MoveL offs(picktarget,0,0,zoffset), v500, z0,picktool
\WObj:=camwobj;
IF CamNumberOfResults(cam)<1 THEN
continueloop:=FALSE;
ENDIF
ENDWHILE
ERROR
WaitTime 1.0;
RETRY;
TPWrite "ERR_CAM_MAXTIME. Increasing timeout by 5s and acquiring
new image";
CamFlush cam;
CamReqImage cam;
maxresulttime:=maxresulttime+5;
WaitTime 1.0;
RETRY;
ELSEIF ERRNO=ERR_CAM_NO_RUNMODE THEN
TPWrite "ERR_CAM_NO_RUNMODE. Setting camera to run mode and
calling RETRY";
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WaitTime 1.0;
CamSetRunMode cam;
RETRY;
ENDIF
ENDPROC
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6.3.12
6.3.12
IF (CamCheckLimits(mycameratarget.cframe, -100, 100, -100, 100,

-90, 90)) THEN
!
ELSE
!
ENDIF
FUNC BOOL CamCheckLimits(pose current_pose, num X_min, num X_max,
num Y_min, num Y_max, num Angle_min, num Angle_max)
!
IF (current_pose.trans.X < X_min) RETURN FALSE;
IF (current_pose.trans.X > X_max) RETURN FALSE;
IF (current_pose.trans.Y < Y_min) RETURN FALSE;
IF (current_pose.trans.Y > Y_max) RETURN FALSE;
IF (EulerZYX(\Z, current_pose.rot) < Angle_min) RETURN FALSE;
IF (EulerZYX(\Z, current_pose.rot) > Angle_max) RETURN FALSE;
RETURN TRUE;
ENDFUNC
90
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7 RAPID
7.1.1 CamFlush -
7 RAPID
7.1
7.1.1 CamFlush -
CamFlush cameratarget
CamFlush
1
CamFlush mycamera;
mycamera
CamFlush Camera
Camera
cameradev
CamFlush
[ Camera ':=' ] < variable (VAR) of cameradev > ';'
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7.1.2 CamGetParameter -
CamGetParameter
CamGetParameter
1
VAR bool mybool:=FALSE;
...
CamGetParameter mycamera, "Pattern_1.Tool_Enabled_Status"
\BoolVar:=mybool;
TPWite "The current value of Pattern_1.Tool_Enabled_Status is: "
\Bool:=mybool;
Pattern_1.Tool_Enabled_Status FlexPendant
CamGetParameter Camera ParName [\Num] | [\Bool] | [\Str]
Camera
cameradev
ParName
Parameter Name
string
[\NumVar]
num
(VAR)
[\BoolVar]
bool
(VAR)
[\StrVar]
string
(VAR)
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ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
ERR_CAM_GET_MISMATCH
CamGetParameter
CamGetParameter
[ Camera ':=' ] < variable (VAR) of cameradev > ','
[ ParName ':=' ] < expression (IN) of string >
[ '\'NumVar ':=' < variable (VAR) of num > ]
| [ '\'BoolVar ':=' < variable (VAR) of bool > ]
| [ '\'StrVar ':=' < variable (VAR) of string > ] ';'
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7.1.3 CamGetResult -
CamGetResult
CamGetResult
1
VAR num mysceneid;
VAR cameratarget mycamtarget;
...
CamReqImage mycamera \SceneId:= mysceneid;
CamGetResult mycamera, mycamtarget \SceneId:= mysceneid;
mycamera SceneId
CamGetResult Camera CamTarget [\SceneId] [\MaxTime]
Camera
cameradev
CamTarget
cameratarget
[\SceneId]
num
SceneId cameratarget
[\MaxTime]
num
120
CamGetResult SceneId
MaxTime CamGetResult
SceneId CamReqImage
SceneId CamReqImage I/O
SceneId CamGetResult
94
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ERRNO
ERR_CAM_BUSY
ERR_CAM_MAXTIME
ERR_CAM_NO_MORE_DATA
SceneId
CamGetResult
[ Camera ':=' ] < variable (VAR) of
[ CamTarget ':=' ] < variable (VAR)
[ '\'SceneId ':=' < expression (IN)
[ '\'MaxTime ':=' < expression (IN)
- Integrated Vision
cameradev > ','

of CameraTarget >
of num > ]
of num > ] ';'
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7.1.4 CamLoadJob -
7.1.4 CamLoadJob -
CamLoadJob job
CamLoadJob
1
CamLoadJob mycamera, "myjob.job";
myjob mycamera
CamLoadJob Camera JobName [\KeepTargets] [\MaxTime]
Camera
cameradev
Name
string
[\KeepTargets]
switch
[\MaxTime]
num
120
CamLoadJob
KeepTargets
ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
ERR_CAM_MAXTIME
ERR_CAM_NO_PROGMODE
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7.1.4 CamLoadJob -
CamLoadJob
CamSetProgramMode
CamLoadJob
[ JobName ':=' ] <expression (IN) of string >
[ '\'KeepTargets ]
[ '\'MaxTime ':=' <expression (IN) of num>]';'
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7.1.5 CamReqImage -
7.1.5 CamReqImage -
CamReqImage ()
CamReqImage
1
mycamera
CamReqImage Camera [\SceneId] [\KeepTargets] [\AwaitComplete]
Camera
cameradev
[\SceneId]
num
SceneId CamReqImage
SceneId 1 8388608
SceneId 0
[\KeepTargets]
switch
[\AwaitComplete]
switch
\AwaitComplete
ERR_CAM_REQ_IMAGE
\AwaitComplete
CamReqImage SceneId
KeepTargets
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7.1.5 CamReqImage -
ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
ERR_CAM_NO_RUNMODE
ERR_CAM_REQ_IMAGE
CamReqImage CamSetRunMode
CamReqImage
[ '\'SceneId ':=' < variable (VAR) of num > ]
[ '\'KeepTargets ]
[ '\'AwaitComplete ]';'
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7.1.6 CamSetExposure -
CamSetExposure ()
CamSetExposure
1
CamSetExposure mycamera \ExposureTime:=10;
mycamera 10 ms
CamSetExposure Camera [\ExposureTime] [\Brightness] [\Contrast]
Camera
cameradev
[\ExposureTime]
num
(ms)
[\Brightness]
num
0 1
[\Contrast]
num
0 1
ERRNO
ERR_CAM_COM_TIMEOUT
CamSetExposure
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[ '\'ExposureTime ':=' < variable (IN) of num > ]

[ '\'Brightness ':=' < variable (IN) of num > ]
[ '\'Contrast ':=' < variable (IN) of num > ] ';'
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7.1.7 CamSetParameter -
CamSetParameter
i
CamSetParameter
1
CamSetParameter mycamera, "Pattern_1.Tool_Enabled" \BoolVal:=FALSE;
"Pattern_1.Tool_Enabled"
RAPID
CamSetParameter Camera ParName [\Num] | [\Bool] | [\Str]
Camera
cameradev
ParName
string
[\NumVal]
num
ParName
[\BoolVal]
bool
ParName
[\StrVal]
string
ParName
ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
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ERR_CAM_SET_MISMATCH
CamSetParameter
CamSetParameter
[ ParName ':=' ] < expression (IN) of string >
[ '\'NumVal ':=' < expression (IN) of num > ]
| [ '\'BoolVal ':=' < expression (IN) of bool > ]
| [ '\'StrVal ':=' < expression (IN) of string > ] ';'
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7.1.8 CamSetProgramMode -
7.1.8 CamSetProgramMode -
CamSetProgramMode ()
CamSetProgramMode
1
...
myjob
CamSetProgramMode Camera
Camera
cameradev
CamSetProgramMode
ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
CamSetProgramMode
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7.1.9 CamSetRunMode -
7.1.9 CamSetRunMode -
CamSetRunMode
RAPID
CamSetRunMode
1
...
myjob CamSetRunMode
CamSetRunMode Camera
Camera
cameradev
CamSetRunMode
ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
CamSetRunMode
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7 RAPID
7.1.10 CamStartLoadJob -
CamStartLoadJob
CamStartLoadJob
1
...
CamStartLoadJob mycamera, "myjob.job";
MoveL p1, v1000, fine, tool2;
...
p1
CamStartLoadJob Camera Name [\KeepTargets]
Camera
cameradev
Name
string
[\KeepTargets]
switch
CamStartLoadJob
\KeepTargets
ERRNO
ERR_CAM_BUSY
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CamStartLoadJob
CamSetProgramMode
CamWaitLoadJob
CamStartLoadJob
[ Name ':='] <expression (IN) of string >
[ '\'KeepTargets ]';'
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7.1.11 CamWaitLoadJob
7.1.11 CamWaitLoadJob
CamWaitLoadJob ()
CamWaitLoadJob
1
...
CamStartLoadJob mycamera, "myjob.job";
MoveL p1, v1000, fine, tool2;
...
p1
CamWaitLoadJob Camera
Camera
cameradev
ERRNO
ERR_CAM_COM_TIMEOUT
CamWaitLoadJob
CamSetProgramMode
CamWaitLoadJob
CamWaitLoadJob
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7 RAPID
7.2.1 CamGetExposure -
7.2
CamGetExposure (Camera Get Exposure)

CamSetExposure
CamGetExposure
1
VAR num exposuretime;
...
exposuretime:=CamGetExposure(mycamera \ExposureTime);
IF exposuretime = 10 THEN
CamSetExposure mycamera \ExposureTime:=9.5;
ENDIF
10 ms mycamera 9.5 ms
num
CamGetExposure (Camera [\ExposureTime] | [\Brightness] |

[\Contrast])
Camera
cameradev
[\ExposureTime]
num
(ms)
[\Brightness]
num
[\Contrast]
num
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ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
CamGetExposure '('
[ Camera ':=' ] < variable (VAR) of cameradev >
['\'ExposureTime]
| ['\'Brightness]
| ['\'Contrast] ')'
num
110
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7 RAPID
7.2.2 CamGetLoadedJob -
7.2.2 CamGetLoadedJob -
CamGetLoadedJob ()
CamGetLoadedJob
1
VAR string currentjob;
...
currentjob:=CamGetLoadedJob(mycamera);
IF CurrentJob = "" THEN
TPWrite "No job loaded in camera "+CamGetName(mycamera);
ELSE
TPWrite "Job "+CurrentJob+" is loaded in camera "
"+CamGetName(mycamera);
ENDIF
FlexPendant
string
CamGetLoadedJob (Camera)
Camera
cameradev
CamGetLoadedJob
ERRNO
ERR_CAM_BUSY
ERR_CAM_COM_TIMEOUT
CamGetLoadedJob '('
[ Camera ':=' ] < variable (VAR) of cameradev > ')'
string
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7 RAPID
7.2.3 CamGetName -
7.2.3 CamGetName -
CamGetName (Camera Get Name)
CamGetName
1
...
logcameraname camera1;
CamReqImage camera1;
...
logcameraname camera2;
CamReqImage camera2;
...
PROC logcameraname(VAR cameradev camdev)
TPWrite "Now using camera: "+CamGetName(camdev);
ENDPROC
FlexPendant
string
CamGetName(Camera)
Camera
cameradev
CamGetName( '('
[ Camera ':=' ] < variable (VAR) of cameradev > ')'
string
112
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7 RAPID
7.2.4 CamNumberOfResults -
CamNumberOfResults (Camera Number of Results)
CamNumberOfResults
1
VAR num foundparts;
...
WaitTime 1;
FoundParts := CamNumberOfResults(mycamera);
TPWrite "Number of identified parts in the camera image:
"\Num:=foundparts;
1
FlexPendant
num
CamNumberOfResults (Camera [\SceneId])
Camera
cameradev
[\SceneId]
num
SceneId
CamNumberOfResults
ERRNO
ERR_CAM_BUSY
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CamNumberOfResults '('
[ Camera ':=' ] < variable (VAR) of cameradev >
[ '\'SceneId ':=' < expression (IN) of num > ] ')'
num
114
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7 RAPID
7.3.1 cameradev -
7.3
7.3.1 cameradev -
cameradev () RAPID
cameradev
cameradev
cameradev cameradev
cameradev
1
cameradev
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7 RAPID
7.3.2 cameratarget -
cameratarget RAPID
cameratarget
RAPID
cframe
name
string
cameratarget
cframe
current frame
pose
val1
value 1
num
...
val5
value 5
num
string1
string
string2
string
type
num
name
116
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7 RAPID
cameraname
string
sceneid
scene identification
num
cameratarget
cameratarget
1
VAR cameratarget target1;
...
wobjmycamera.oframe := target1.cframe;
MoveL pickpart, v100, fine, mygripper \WObj:= wobjmycamera;
cframe robtarget pickpart
< dataobject of cameratarget >

< name of string >
< cframe of pose >
< trans of pos >
< rot of orient >
< val1 of num >
< val2 of num >
< val3 of num >
< val4 of num >
< val5 of num >
< string1 of string >
< string2 of string >
< type of num >
< cameraname of string >
< sceneid of num >
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cameradev, 115
cameratarget, 116
CamFlush, 91
CamGetExposure, 109
CamGetLoadedJob, 111
CamGetName, 112
CamGetParameter, 92
CamGetResult, 94
CamLoadJob, 96
CamNumberOfResults, 113
CamReqImage, 98
CamSetExposure, 100
CamSetParameter, 102
CamSetProgramMode, 104
CamSetRunMode, 105
CamStartLoadJob, 106
CamWaitLoadJob, 108
Cognex EasyBuilder, 13, 16
Cognex In-Sight, 13, 16
, 85
, 67
, 45
, 11
RobotStudio, 19
RobotWare, 19
, 17
, 19
, 58
, 70
, 27, 34
I/O, 64
IP , 45
, 16
Options, 32
, 21, 26
RAPID , 65
, 32, 47
, 43
vc_network_definition, 46
VGR, 16
, 61
, 21, 31
, 23, 26, 44
, 16, 65
, 45
, 16
, 45
, 35
, 16
, 15
, 46
, 16
, 58
, 22
, 22
, 16
, 16
, 16
, 16
, 16, 55, 74
, 16
, 57, 75
, 72
, 71
, 58
, 15
, 16, 57
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, 32, 47
, 33
, 79
, 21, 30
, 27
, 13, 15
FlexPendant, 37
RobotStudio, 21
, 64
, 64
, 85
, 33
, 13, 15
, 44
, 45
, 21, 29
, 21, 23
, 59
Integrated Vision, 41
, 59
, 61
, 86
, 24
, 46
120
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ABB AB
Discrete Automation and Motion
Robotics
S-721 68 VSTERS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

Discrete Automation and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 51489000
ABB Engineering (Shanghai) Ltd.

No. 4528 Kangxin Hingway
PuDong District
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Integrated Vision

Trace back information:

RobotWare Integrated Vision ...............................................................................

Product manual - IRC5

Product manual - IRC5

RobotWare 5.15.03 RobotWare 5.60

ABB DVD IRC5

Technical reference manual - Lubrication in gearboxes

Operating manual - Introduction to RAPID

400-480 VAC 700 VDC

RobotStudio Cognex EasyBuilder

Cognex In-Sight 7000 Series Vision System Installation

3 RobotStudio RAPID IRC5

FlexPendant SxTPU3 Integrated Vision

Integrated Vision 64 RobotStudio

RobotStudio Integrated Vision

RobotStudio Cognex EasyBuilder

1.3 Integrated Vision

IRB IRC5 FlexPendant

Integrated Vision interface

RobotStudio 5.60 RobotStudio

RobotWare Integrated Vision

Integrated Vision 41 Integrated Vision

Cognex EasyBuilder Cognex RobotStudio

Cognex In-Sight 7000 Series

Integrated Vision RobotStudio

Cognex EasyBuilder Cognex RobotStudio

(RobotStudio vision add-in)

(edit acquisition settings)

(calibrating the image to (Calibrate)

Integrated Vision41 Integrated Vision

Configure Job Advanced

Cognex In-Sight Explorer

Cognex In-Sight Explorer

RobotStudio GUI Integrated Vision GUI

Cognex EasyBuilder GUI

Integrated Vision RobotStudio

FlexPendant Integrated Vision

"...\HOME\IV" IVSetup.xml XML

RobotStudio Configuration Editor

RobotStudio Configuration Editor

Host Name Configuration

Cognex In-Sight RobotStudio

Integrated Vision 4.08.02 (023)

User Access Settings Cognex In-Sight

Set Controller user

User Access Settings

User Access Settings

Show Custom View at Log On

User Access Settings

Integrated Vision RAPID

C:\...\ABB Industrial IT\Robotics IT\RobotStudio x.xx\Bin\Addins\IntegratedVision\PDF

Integrated Vision RobotStudio

Inputs Cognex I/O

Outputs Cognex I/O

RAPID RobotStudio RAPID

myrobtarget Modify Position

CONST string myjob := "myjob.job";

CamReqImage mycamera \SceneId:=mysceneid;