基恩士视觉和FANUC机器人视觉引导定位抓取程序详解之二

/PROG  PAIZHAO_CCD2_0814

/ATTR

OWNER= MNEDITOR;

COMMENT= "CCD2触发拍照0810";

PROG_SIZE= 1930;

CREATE= DATE 23-08-14  TIME 11:57:58;

MODIFIED= DATE 23-08-14  TIME 11:57:58;

FILE_NAME= PAIZHAO_;

VERSION= 0;

LINE_COUNT= 53;

MEMORY_SIZE= 2390;

PROTECT= READ_WRITE;

TCD:  STACK_SIZE= 0,

      TASK_PRIORITY= 50,

      TIME_SLICE= 0,

      BUSY_LAMP_OFF= 0,

      ABORT_REQUEST= 0,

      PAUSE_REQUEST= 0;

DEFAULT_GROUP= 1,*,*,*,*;

CONTROL_CODE= 00000000 00000000;

LOCAL_REGISTERS= 0,0,0;

/APPL

/APPL

  SPOT Welding Equipment Number : 1 ;

/MN

   1:  UFRAME_NUM=1 ;

   2:  UTOOL_NUM=1 ;

   3:J P[2] 50% FINE    ;

   4:J P[1] 30% FINE    ;

   5:L PR[62] 1800mm/sec FINE    ;

   6:  --ch:CCD2拍照点PR[82] ;

   7:L PR[82] 2000mm/sec FINE    ;

   8:  RO[4]=ON ;

   9:  WAIT   2.00(sec) ;

  10:  --ch:与相机建立连接 ;

  11:  CALL KEY_CONNECT('C1') ;