Teaching the motion to be offset based on the marker detected by vision
After setting the '1-Marker Runtime Offset' icon, teach the robot motion to be offset based on the marker position detected by vision.
* NOTE: Do not move the robot and the marker from the reference position (the positional relation between the robot base and the marker-placed object, at the process completion of the '1-Marker Runtime Offset' icon) until teaching is completed.

Example of an icon layout on the Program Line:
(1)Move the robot to a work position.
(2) Add the
'L(VISION)' icon right after the
'1-Marker Runtime Offset' icon on the Program Line.
(3)Touch the
icon on the Program Line to open the setting screen.
  • To change the position, move the robot to a new position and touch 'Touch Up'.
Action for when 1-Marker Runtime Offset fails
Use the following procedure to add actions for when the 1-Marker Runtime Offset fails.

Example of an icon layout on the Program Line:
(1) Touch the
'1-Marker Runtime Offset' icon to open the setting screen. Note the numeric register number selected for 'R Index for error number' in '2 Detection Setup'.
(2) Add the
'IF' icon right after the
'1-Marker Runtime Offset' icon.
(3) Touch the
icon to open the setting screen and set the condition when the 1-Marker Runtime Offset succeeds (a value of the numeric register which is set as 'R Index for error number' in Step 1 above is 0).
(4)In the indented area following the
icon, add actions for the case when the 1-Marker Runtime Offset succeeds. ('a' in the figure above).
(5)In the indented area following the
icon, add actions for the case when the 1-Marker Runtime Offset fails. ('b' in the figure above).
Then, add actions in the indented area following the
icon and the
icon similarly.