Teaching the motion for the workpiece detected by the vision
After setting the 'Find' icon, teach the robot motion for the workpiece detected by vision.
* NOTE: Do not move the workpiece from the reference position (workpiece position when the 'Find' icon was set) until teaching is completed.

Example of an icon layout on the Program Line:
(1)Move the robot to a position where the actual work is performed for the workpiece.
(2) Add the
'L(VISION)' icon right after the
'Find' 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'.
Teaching the picking motion for the workpiece detected by the vision
The
'Pick/Place (Vision)' icon allows you to easily teach the picking motion for the workpiece detected by vision.
* NOTE: Do not move the workpiece from the reference position (workpiece position when the 'Find' icon was set) until teaching is completed.
Example of an icon layout on the Program Line:
(1)Move the robot to the position for picking the workpiece (the Pick Position).
(2) Add the
'Pick/Place (Vision)' icon to the Program Line.
This icon creates a U-shaped area 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'.
(4) Add the
icon to open/close the arm tooling inside the U-shaped area created by the
icon
Action for when the workpiece is/is not detected
Use the following procedure to add actions for when the workpiece is or is not detected.
Example of an icon layout on the Program Line:
(1) Touch the
'Find' icon to open the setting screen. Note the numeric register number selected for 'R Index for number of found' in '2 Detection Setup'. This will be used in Step 3 below.
(2) Add the
'IF' icon right after the
icon.
(3) Touch the
icon to open the setting screen and set the condition when the workpiece is detected. When a workpiece is detected, the numeric register from Step 1 above will have a value of 1 or greater.
(4)In the indented area following the
icon, add the action for the case when the workpiece is detected. See the box marked 'a' in the figure above.
(5)In the indented area following the
icon, add the action for the case when the workpiece is not detected. See the box marked 'b' in the figure above.
Performing the work for multiple workpieces
Use the following procedure to perform the work for multiple workpieces, such as picking all workpieces.
Example of an icon layout on the Program Line:
(1) Add the
'LABEL' icon right before the
'Find' icon on the Program Line.
(2) Touch the
icon on the Program Line to open the setting screen and set the label number.
(3) Touch the
icon to open the setting screen. Note the numeric register number selected for 'R Index for number of found' in '2 Detection Setup'. This will be used in Step 5 below.
(4) Add the
'IF' icon right after the
icon on the Program Line.
(5) Touch the
icon to open the setting screen and set the condition when the workpiece is detected. When a workpiece is detected, the numeric register from Step 3 above will have a value of 1 or greater.
(6) In the indented area following the
icon, add the action for the case when the workpiece is detected. Then add the
'JUMP' icon. See the box marked 'a' in the figure above.
(7) Touch the
icon to open the setting screen and set the operation to jump to the label set in (2).
(8) In the indented area following the
icon, add the action for the case when the workpiece is not detected. See the box marked 'b' in the figure above.