V-Works for XG Provider (pdf:622KB)
Contents
1. move l Oe pTargetPos s 10 call Hand Close depart 1 p 50 s 100 EndProc Normal end routine State necessary end process exit sub ErrProc Abnormal end routine State necessary error process Goto EndProc End Sub 27 Revision History DENSO Robot Provider User s Manual KEYENCE Image Processing System XG Series Version Supported Content RC8 Ver 1 0 0 Ver 1 1 2 First version Ver 1 0 1 sada os Addition of command TriggerAndGetResult DENSO WAVE INCORPORATED No part of this manual may be duplicated or reproduced without permission O The contents of this manual are subject to change without notice O Every effort has been made to ensure that the information in this manual is accurate However should any unclear point error or omission be found please contact us O Please note that we will not be responsible for any effects resulted from the use of this manual regardless of the above clauses DENSO Robotics THIRD PARTY PRODUCTS DENSO WAVE INCORPORATED2. Class library Declare provider implementation IF 1 THEN 0 Communication Provider command NE ELSE circuit END IF End Sub Using the dedicated communication I l l l l l l l l I 1 format for XG data transmission is performed unm tea dede due cf ea Euh a E ed at a THIRD PARTY PRODUCTS 1 3 Mechanism of provider This provider offers various programs required to control the target device as a single provider Just activate the license to use the provider Once provider implementation is declared on a desired program file the functions prepared by the provider can be used as commands in the user program Since the provider is included in the controller there is no need of installation Also it is possible to implement multiple providers of different type Note that a program procedure cannot contain the providers of the same type If provider is compared to a folder the folder contains various commands Controller internal image Group of providers cannot be used yet J Program 2 D Provider prepared in the system This cannot be used yet Saag Provider after embedding This can be used in a provider embedded program Different colors are used to indicate the provider type Note When the same provider exists in different programs like e in the above figure exclusion process is required between the programs tasks The provide
3. conn eth 192 168 0 10 vntResult caoCtrl TriggerAndGetResult 1 24 THIRD PARTY PRODUCTS 6 Error Code of XG provider The specific error code of XG provider is created as shown below based on the return value of XG 0x80100010 Return value For the error code of each command refer to ActiveX control reference manual of Keyence Example When executing ChangeMode 0x801003EA Parameter value is out of range About the ORiN2 commonness error please refer to the chapter of the error code of ORiN2 Programming guide 25 THIRD PART Y PRODUCTS 7 Operation Panel Screen This provider provides the following operation panel screen This operation panel uses the provider to check operations etc after connecting to the device See the following as an application example of the operation panel Displaying the operation panel establishes connection to XG implements the provider The communication settings need to be configured beforehand Closing the operation panel terminates the connection releases the provider Main screen Ee c oo MEME MN YO m M Y AUTOEN DSW rA p KEYENCE XG Variable Name Read Trigger Result Initializing SHIFT CANCEL to exit Shortcut Description Each button functions as follows 1 Changes to the run mode ChangeMode 2 Changes to the stop mode ChangeMode 3 Configures the test setting No SD card No 1 to 2 setting No 0 to 999 4 Changes to
4. a variable and makes a connection to XG Syntax cao AddController lt Controller name gt lt Provider name gt lt Provider running machine name gt lt Option gt Argument lt Controller name gt Assign a name The name is used for control Provider name CaoProv KEYENCE VWXG lt Provider running machine name gt Omit this parameter lt Option gt Connection parameter Connection parameter conn eth lt IP address gt Port number Default port number is 8502 The port number is optional Descri ption The provider becomes effective when implemented to a variable From this point the implemented Object type variable is used to access the provider The implemented variable is called Implementation Variable Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 Specify a port number as follows caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 8503 11 THIRD PARTY PRODUCTS lt ImplVar gt ChangeMode Usage Changes the operation mode to run or stop modes Usage lt ImplVar gt ChangeMode lt Mode gt Argument lt Mode gt Switching between run and stop modes integer 0 Stop mode 1 Run mode Usage The operation mode is changed to run or stop Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl ChangeMode 1 Enter run
5. is implementation declaration gt execution This provider takes a connection process at the time of implementation The operation can be repeated as many times as needed A program example is shown below Sub Main On Error Goto ErrorProc 1 Declare error process routine Dim caoCtrl as Object 2 Declare provider variable Dim vntResult as Variant 3 Declare result acquisition variable caoCtrl cao AddController XG caoProv KEYENCE VWXG conn eth 192 168 0 10 4 State from trigger to data receiving process 5 EndProc End process Exit Sub ErrorProc Error process End Sub 1 Q 3 4 5 Declare the provider error processing routine as needed Connection error detection at declaration Declare the provider implementation variable as Object type The variable name can be specified arbitrarily Declare the result acquisition variable The data type depends on the command Execute implementation with the provider declaration command cao AddController The parameters required for settings vary by provider From this point the provider commands are available using the implementation variable caoCtrl Now the program can be stated using the provider commands THIRD PARTY PRODUCTS 5 Command Description This page contains a description of commands The commands are classified into connection commands XG commands and proprietary extension commands For the detailed opera
6. mode 12 THIRD PARTY PRODUCTS lt ImplVar gt ReadMode Usage Acquires the current operation mode run stop or remote capture mode Syntax lt ImplVar gt ReadMode Return value The current operation mode is stored If acquisition fails 1 is stored Variant type 0 Stop mode 1 Run mode 2 Remote capture mode Description The current operation mode run stop or remote capture mode is acquired Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 vntResult caoCtrl ReadMode 13 THIRD PARTY PRODUCTS lt ImplVar gt Reset Usage Resets the controller Syntax lt ImplVar gt Reset Description The controller is reset Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl Reset 14 THIRD PARTY PRODUCTS lt ImplVar gt Restart Usage Jumps to the next unit of the start unit Syntax lt ImplVar gt Restart Descri ption The command makes a jump to the next unit of the start unit Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl Restart 15 THIRD PARTY PRODUCTS lt ImplVar gt Trigger Usage Issues a trigger Syntax lt ImplVar gt Trigger lt Trigger No gt Argument lt Trigger No gt Specify the number of trigger to issue integer 1 8 Tr
7. on XG Vision Editor to display the Communications amp I O Ethernet TCP IP Settings window Set the IP address and subnet mask so that the robot controller and XG series are within the same subnet mask Set CR for delimiter For Command amp Data Output set 8500 at all time Fixed value System Settings Ver 42 0020 System Settings Camera Communications amp 1 0 i VNC USB PLC Link CC Link EtherNet IP PROFINET RS 232C no protocol Terminal Block amp Parallel Start Delimiter None v File Output Error Handling 3 1 3 Other settings for XG series 1 After creating a test flow with XG Vision Editor select Capture Settings Trigger Settings tab on Flow View to display the Trigger Settings window Select External for the trigger type and check the Ethernet TCP IP check box x Display Camera Camera 1 v Image Capturedimage v General Capture Options Camera Settings Trigger Settings Strobe Settings LightConfiguration V Capture on trigger input Screen Update E E Trigger m Camera Assignment FT Use system settings Trigger Trigger Delay Time Terminal Block JW Handheld Controller RS 232C IV Ethernet TCP IP J PLC Link CC Link EtherNet P IV PC Program PROFINET THIRD PARTY PRODUCTS 4 Provider Execution Procedure The basic process of the provider
8. DENSO DENSO Robotics THIRD PARTY PRODUCTS gs gt y rs 7 a L O ff Y bL L J pu t BA W lt fw e W a i Y l a L RB 4 P n 7 if IN T IN IN AN b d MANUA 1 2d Y Mi ku Mo Bees Maker KEYENCE Products Series Image Processing System MODEL XG Series Introduction This document is a user s manual for the provider to use KEYENCE Image Processing System XG Series connected to the DENSO robot controller RC8 series Note that some functions may be unavailable on old XG models For details and handling of the connected device refer to the user s manual of KEYENCE Image Processing System XG Series Caution 1 Note that the functions and performance cannot be guaranteed if this product is used without observing instructions in this manual 2 All products and company names mentioned are trademarks or registered trademarks of their respective holders This manual covers the following product KEYENCE XG 7000 8000 Series Important To ensure proper and safe operation be sure to read Safety Precautions Manual before using the provider Notice to Customers 1 Risks associated with using this product The user of this product shall be responsible for embedding and using the product software on a system and any result from using it Contents roduc OM see ste totom ot Vi odors ed gota oo oui stone mete Same ete SEDENT do
9. eadVariable My Var 20 THIRD PARTY PRODUCTS lt ImplVar gt ChangelnspectSetting Usage Changes the setting to the test setting No of the specified SD card Syntax lt ImplVar gt ChangelnspectSetting SD card No gt Test setting No Argument lt SD card No gt Specify the SD card No Integer 1 2 lt Test setting No gt Specify the test setting No Integer O to 999 Description The setting is changed to the test setting No of the specified SD card Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl ChangelnspectSetting 1 2 Change SD card 1 test setting to No 2 21 THIRD PARTY PRODUCTS lt ImplVar gt ClearError Usage Clears the error status and error code of the specified type Syntax lt ImplVar gt ClearError Error type Argument Error type Specify the error status Integer 0 1 0 96ErrorO and Error0Code cleared 1 Errorl and 96Errorl Code cleared Descri ption The error status and error code of the specified type are cleared Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl ClearError 0 22 THIRD PARTY PRODUCTS lt ImplVar gt ExecuteCommand Usage Executes a specified non procedural command A command response is acquired regardless of whether the command execution is successful or not Syntax Im plVa r gt Exec
10. i SUN dotium e i d 2 pOr iss sed 2 Notice to CUSTOTAELS in E TETTE TEE TEILTE OE IET ILIO II LIE 2 1 Outhne of Ehis Product Provider ciet a A edu Coop ue eto EP E NUN e o LR NR deos 4 2s HOW to Connect eet ie ere e etate de ete de eed 6 3 Communication Settings for Robot Controller and Device Used essere 7 4 Provider Execution Procedure edt ee rere aa aa aa aci eden e ad HEP os 9 3 Command Description euie esena eir et i P de e EE vie VEERE cust dees cu ee dee 10 6 Error Code OF XG providers tet derepente et toli E eds 25 7 Operation Panel Screen suede eee dedita dediti AA A 26 8 Sample Progra a beet en a beh te le e ee RR ORE RE RETO Fat S Hare ER AP PR PRG RU NRI 27 Revision HIStory 0 tome pasa mi tute Do e RUD THO e EDU UA AAA OA iau URS Dad 28 THIRD PARTY PRODUCTS 1 Outline of This Product Provider 1 1 Target device of provider This provider can be used only when a DENSO robot controller RC8 series is connected to the XG 7000 8000 series hereinafter referred to as XG 1 2 Features of provider This provider is provided to use the XG native commands required to access XG series in the robot program Use of this provider allows customers to establish communication with a robot easily without creating a communication program for XG series The following shows a diagram of provider embedding Provider Sub Main
11. igger 1 to 8 1 All triggers However Triggers 5 to 8 are supported in Version 5 0 0000 or later Description A trigger is issued Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl Trigger 2 16 THIRD PARTY PRODUCTS lt ImplVar gt EnableTrigger Usage Enables disables trigger input Syntax lt ImplVar gt EnableTrigger Enable mode Argument Enable mode Specify whether to enable disable trigger integer 0 Trigger disabled 1 Trigger enabled Descri ption Trigger is enabled disabled Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl EnableTrigger 1 17 THIRD PARTY PRODUCTS lt ImplVar gt ReadTriggerEnable Usage Acquires the current trigger status enabled disabled Syntax lt ImplVar gt ReadTriggerEnable Return value The trigger status is stored If acquisition fails 1 is stored Variant type 0 Trigger disabled 1 Trigger enabled Description The trigger status enabled disabled is acquired Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 vntResult caoCtrl ReadTriggerEnbale 18 THIRD PARTY PRODUCTS lt Imp lVar gt Write Variable Usage Writes a value to a specified scalar variable global or local variable Syntax lt Imp
12. lVar gt Write Variable lt Variable name gt lt Value gt lt Synchronization mode gt Argument lt Variable name gt Specify a scalar variable name with one byte characters character string lt Value gt Specify a value to write to the variable Double type lt Synchronization mode gt Specify whether or not to reflect in synchronization with a flow integer 0 Reflected immediately without synchronization with flow MW command 1 Reflected at the end unit of flow MS command Description A value is written to a specified scalar variable This variable name is a name configured in the XG series Example Dim caoCtrl as Object caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 caoCtrl Write Variable My Var 2 0 19 THIRD PARTY PRODUCTS lt Imp IVar gt Read Variable Usage Acquires the value of specified scalar variable Syntax lt ImplVar gt Read Variable variable name gt Argument lt Variable name gt Specify a scalar variable name with one byte characters character string Return value The variable value is stored If acquisition fails 1 0 is stored Variant type Description The value of specified scalar variable is acquired This variable name is a name configured in the XG series Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 vntResult caoCtrl R
13. r is provided as a dynamic link library abbreviated as DLL which can be used from PacScript THIRD PART Y PRODUCTS 2 How to Connect 2 1 Ethernet TCP IP connection example To connect to the robot controller via Ethernet use the optional dedicated cable KEYENCE PN OP 66843 or a crossover LAN cable Also when a switching hub router is used use the cable suitable for the switching hub router specifications XG series Crossover cable 3 m Robot controller OP 66843 THIRD PARTY PRODUCTS 3 Communication Settings for Robot Controller and Device Used Use a teach pendant to adjust the communication settings for the device to be used 3 1 Communication via Ethernet TCP IP 3 1 1 Ethernet TCP IP communication settings on robot controller Set the robot controller s IP address 1 Press F6 Setting F5 Communication and Token F2 Network and Permission to display the Communication Settings window Set the IP address and subnet mask so that the robot controller and XG series t are within the same subnet mask 7 EMG PRTOT VS050A3A MAN yO 9 AUTO EN M ee Ee Communication Settings Disable 192 168 0 1 255 255 255 0 0 0 0 0 B4 B5 2F B9 1D 18 Communication settings to communicate with WINCAPS cancer 2 Shortcut Shorto ps S 7 THIRD PARTY PRODUCTS 3 1 2 Ethernet TCP IP communication settings for XG series Select Setting Menu System Settings
14. the setting No set in the step 3 ChangeInspectSetting 5 Configures the variable name to read This variable name is a name configured in the XG series 6 Reads out the value of the variable set in 5 Received data appears in the data display section 10 Read Variable 7 Executes all triggers Trigger Displays the processing result 9 Moves up the page displayed for received data 10 Displays the received data 11 Moves down the page displayed for received data Note 1 When a provider implementation initialization is done properly Connected is displayed in the field 8 Note 2 Do not use the operation panel screen when the XG provider is used by PacScript program 26 THIRD PARTY PRODUCTS 8 Sample Program Sub Main On Error Goto ErrProc Declare error process routine Dim caoXG as Object Declare provider variable Dim vntResult as Variant Declare character string variable Dim pTargetPos as Position Declare P type variable takearm keep 0 pTargetPos P11 caoXG cao AddController XG CaoProv KEYENCE VWXG Conn eth 192 168 0 10 Provider implementation caoXG ChangelnspectSetting 1 2 Change to SD1 setting 2 caoXG Trigger 1 Trigger delay 200 vntResult caoXG ReadVariable XPos Receive data letx pTargetPos posx P11 val vntResult Expand X component of received data to position data approach p pTargetPos p 20 s 100 Go to position after correction
15. tion of XG commands refer to the API list in the reference manual for V Works for XG ActiveX Control for the KEYENCE XG 7000 8000 series Table 5 1 List of commands Commands Refer command supported by Usage KEYENCE i Connection commands Implements the provider to a variable and makes a connection cao AddController 11 to XG XG commands ChangeMode ChangeMode Changes the run stop mode 12 ReadMode ReadMode Reads the run stop mode 13 Reset Reset Causes a reset 14 Restart Restart Jumps to the next unit of the start unit 15 Trigger Trigger Issues a trigger 16 EnableTrigger EnableTrigger Enables disables trigger input 17 ReadTriggerEnable ReadTriggerEnable Reads the trigger input enabled disabled state 18 WriteVariable WriteVariable Writes a variable value 19 ReadVariable ReadVariable Reads a variable value 20 ChangelInspectSetting ChangelInspectSetting Changes the test setting No 21 ClearError ClearError Clears a system error 22 Proprietary extension commands ExecuteCommand Executes a non procedural command 23 TriggerAndGetResult Issues a trigger and acquires the processing result of images 24 Following abbreviated expressions are used for the command descriptions in this manual Implementation variable gt lt ImplVar gt Property variable gt lt Prop Var 10 THIRD PARTY PRODUCTS cao AddController Usage Implements the provider to
16. uteCommand Non procedural command Argument Non procedural command Specify a command with a character string Return value Command response is returned with a character string If acquisition fails the character string is not stored Variant type Descri ption For the supported non procedural commands refer to the reference manual of V Works for XG ActiveX control for XG series Example Non procedural command RO The following shows an example of entering run mode Dim caoCtrl as Object Dim vntResult as Variant caoCtrl cao AddController XG CaoProv KEYENCE VWXG conn eth 192 168 0 10 vntResult caoCtrl ExecuteCommand RO Enter run mode 23 THIRD PARTY PRODUCTS lt ImplVar gt TriggerAndGetResult Usage Issues a specified trigger and acquires the processing result of images Syntax lt ImplVar gt TriggerAndGetResult Trigger No Argument Trigger No Specify the number of trigger to issue integer 1 8 Trigger 1 to 8 1 All triggers However Triggers 5 to 8 are supported in Version 5 0 0000 or later Return value Output data specified for the result output unit is stored If acquisition fails 1 0 is stored Variant type Descri ption Issues a specified trigger and acquires the processing result specified for the output unit of the XG series side Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl cao AddController XG CaoProv KEYENCE VWXG
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