DETAILS ABOUT SETTING UP THE ROBOT PROGRAM
To perform the vision offset with the robot, add the following red statements to the robot TP program.

 
1: RUN_FIND 'VP1' ; 1:Execute the vision process
2: GET_OFFSET 'VP1' VR[1] JMP LBL[99] ; 2:Obtain the offset data
3: J P[2:PICK_APR] 100% FINE VOFFSET,VR[1] ; 3:Offset robot motion
4: L P[3:PICK_POS] 100mm/sec FINE VOFFSET,VR[1] ;
5: VACUUM_ON ;
6: L P[2:PICK_APR] 100mm/sec FINE VOFFSET,VR[1] ;
7: 
8: LBL[99] ;
 

Each of the changes has the following meaning.

1:Execute the vision process
A vision process is executed with the 'RUN_FIND' command.
In the above example, a vision process called VP1 is executed.
2:Obtain the offset data
Obtain one offset data from the vision process with the 'GET_OFFSET' command.
The obtained offset data is stored in the "vision register", ('VR[1]').
If the offset data cannot be obtained by the vision process because the workpiece cannot be found, the robot program jumps to the label designated with the jump label.
3:Offset robot motion
Add the 'VOFFSET' command to the motion statement for the robot positions that perform the tasks on the workpiece.
The 'VOFFSET' command will shift the robot positions based on the vision result in the vision register.