Teaching the motion to be offset based on the marker detected by vision
After setting the '3-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 or the markers from the position at the end of teaching of the '3-Marker Runtime Offset' icon (the positional relation between the robot base and the object on which the markers were placed) 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
'3-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 3-Marker Runtime Offset fails
Use the following procedure to add actions for when the 3-Marker Runtime Offset fails.
Actions for error need to be taught because this function does not stop by an alarm of failure.

Example of an icon layout on the Program Line:
(1) Touch the
'3-Marker Runtime Offset' icon to open the setting screen. Note the numeric register number selected for 'R Index for error number' in '1 Output Setup'.
(2) Add the
'IF' icon right after the
'3-Marker Runtime Offset' icon.
(3) Touch the
icon to open the setting screen and set the condition when the 3-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 3-Marker Runtime Offset succeeds. ('a' in the figure above).
(5) In the indented area following the
icon, add actions for the case when the 3-Marker Runtime Offset fails. ('b' in the figure above).
Actions can be changed according to the type of error.

For Example, if you want to add actions for the case when the marker cannot be detected, add another
'IF' icon on this 'b' part, and set the condition when the marker is not detected (a value of the numeric register which is set as 'R Index for error number' is 1413).
Then, add actions in the indented area following the
icon and the
icon similarly.
Error number
0 is output in case of success. Except 0 is output in case of causing the error.
Action for when Find Marker fails
Use the following procedure to add actions for when the Find Marker fails.
Actions for error need to be taught because this function does not stop by an alarm of failure.

Example of an icon layout on the Program Line:
(1) Touch the
'Find Marker' 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
'Find Marker' icon.
(3) Touch the
icon to open the setting screen and set the condition when the Find Marker 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 Find Marker succeeds. ('a' in the figure above).
(5)In the indented area following the
icon, add actions for the case when the Find Marker fails. ('b' in the figure above).
Actions can be changed according to the type of error.

For Example, if you want to add actions for the case when the marker cannot be detected, add another
'IF' icon on this 'b' part, and set the condition when the marker is not detected (a value of the numeric register which is set as 'R Index for error number' is 1413).
Then, add actions in the indented area following the
icon and the
icon similarly.