VERSION 5.00 Begin VB.Form frmTracking BorderStyle = 1 '固定(実線) Caption = "Tracking" ClientHeight = 930 ClientLeft = 45 ClientTop = 330 ClientWidth = 5670 MaxButton = 0 'False MinButton = 0 'False ScaleHeight = 930 ScaleWidth = 5670 StartUpPosition = 3 'Windows の既定値 Begin VB.Frame Frame2 Caption = "ConveyerTracking" Height = 795 Left = 60 TabIndex = 1 Top = 60 Width = 5535 Begin VB.Timer Timer1 Enabled = 0 'False Interval = 100 Left = 5160 Top = 510 End Begin VB.CommandButton cmdExit Caption = "Exit" Height = 375 Left = 4170 TabIndex = 4 Top = 240 Width = 1215 End Begin VB.CommandButton cmdTerm Caption = "Stop" Height = 375 Left = 2820 TabIndex = 3 Top = 240 Width = 1215 End Begin VB.CommandButton cmdDummyIO Caption = "Dummy I/O" Height = 375 Left = 1470 TabIndex = 2 Top = 240 Width = 1215 End Begin VB.CommandButton cmdExecute Caption = "Start" Height = 375 Left = 120 TabIndex = 0 Top = 240 Width = 1215 End End End Attribute VB_Name = "frmTracking" Attribute VB_GlobalNameSpace = False Attribute VB_Creatable = False Attribute VB_PredeclaredId = True Attribute VB_Exposed = False Option Explicit Private caoEng As New CaoEngine Private caoCtrls As CaoControllers Private caoRob As CaoRobot Private WithEvents caoCtrl As CaoController Attribute caoCtrl.VB_VarHelpID = -1 Private caoMess As CaoMessage Private m_bTermSignal As Boolean Private m_bDetectedSignal As Boolean Private m_vDetectedPos As Variant 'The position where the workpiece is detected Private m_bDoEvents As Boolean Private Declare Function GetTickCount Lib "kernel32" () As Long ' ---------------------------------------------------- Private Sub Form_Load() Set caoEng = New CaoEngine Set caoCtrls = caoEng.Workspaces(0).Controllers End Sub ' ---------------------------------------------------- Private Sub Form_Unload(Cancel As Integer) Disconnect Set caoCtrls = Nothing Set caoEng = Nothing End Sub ' ---------------------------------------------------- Private Sub Connect() Dim sConn As String Disconnect sConn = "Conn=eth:192.168.0.1" 'IP address of RC7M Set caoCtrl = caoCtrls.Add("RC1", "CaoProv.DENSO.NetwoRC", "", sConn) Set caoRob = caoCtrl.AddRobot("RC1") caoRob.AddVariable ("@BUSY_STATUS") End Sub ' ---------------------------------------------------- Private Sub Disconnect() If Not caoCtrl Is Nothing Then Set caoRob = Nothing caoCtrl.Robots.Clear End If If Not caoCtrls Is Nothing Then caoCtrls.Clear Set caoCtrl = Nothing End If If Not caoMess Is Nothing Then Set caoMess = Nothing End If End Sub ' ---------------------------------------------------- Private Sub cmdExecute_Click() On Error GoTo ErrProc Connect 'Tracking operation ConveyerTracking Disconnect Exit Sub ErrProc: MsgBox "ERROR:" + Err.Description End Sub ' ---------------------------------------------------- '***************************************************** ' Set the workpiece detected signal ON Private Sub cmdDummyIO_Click() MsgBox "Turn the I/O [48] ON (Hand-In No.1)" End Sub '***************************************************** ' ---------------------------------------------------- Private Sub cmdTerm_Click() m_bTermSignal = True End Sub ' ---------------------------------------------------- 'Do semothings all at once Private Sub MyDoEvents() If m_bDoEvents Then Exit Sub m_bDoEvents = True 'To the Windows system DoEvents 'To workpiece detection WorkpieceDetection m_bDoEvents = False End Sub ' ---------------------------------------------------- 'Tracking operation ' [Required RC7M settings] ' Hand I/O No.1 = IO48 for workpiece detection ' [Required points] ' P50 : robot home position ' P70 : to eject workpiece ' [temporary points] ' P60 : workpiece detected position ' P61 : to chunck workpiece Private Sub ConveyerTracking() Dim vRet As Variant Dim vPos As Variant Dim vCurPos As Variant Dim lRest As Long Dim lErr As Long Dim bExit As Boolean With caoCtrl .Variables.Clear .AddVariable "P60" .AddVariable "P61" .AddVariable "IO48" 'Hand I/O No.1 End With m_bDoEvents = False m_bTermSignal = False 'Turn OFF the workpiece recognition processing termination signal With caoRob .Execute "ResetTrackMove" 'Canceling conveyer 1 tracking 'Initializing conveyer 1 data buffer .Execute "TrackDataInitialize", 1 'Set a tracking start/stop range .Execute "SetTrackStartArea", Array(1, -200, 200) .Speed -1, 100 'SPEED=100 .Move 1, "P50" 'Goto P50 Home Position '.Move 1, Array(50, "P") 'Goto P50 Home Position '******************************************************** ' *** INSERT YOUR ORIGINAL CODE HERE ! *** 'Start the workpiece recognition task '******************************************************** 'The workpiece recognition results are always monitored after here Do MyDoEvents 'Do something all at once 'Repeated until the workpiece recognition processing termination signal is ON If m_bTermSignal = True Then Exit Do If .Execute("TrackDataNum", 1) > 0 Then 'If the conveyer tracking data buffer has data, 'data is obtained from the conveyer tracking data buffer vRet = .Execute("TrackDataGet", Array(1, 0)) ' -> Return( Array(, P(,,,,,,)) lRest = vRet(0) 'rest info If lRest >= 0 Then 'When workpiece data is obtained normally vPos = vRet(1) 'P type 'vPos(2) = 100# 'Set a position in the direction of Z. vPos(3) = 0: vPos(4) = 0: vPos(5) = 90 'Set a posture at the tracking operation. RX=0,RY=0,RZ=0 vPos(6) = 0 'Set a robot figure at the tracking operation. caoCtrl.Variables("P60").Value = vPos 'Waiting until the workpiece subject to tracking reaches the tracking start range bExit = False Do vRet = .Execute("WaitTrackMoveEx", Array(1, vPos, 0)) 'Timeout is 0 sec Select Case vRet '(1)upstream |<-(0)->| (2)downstream Case 1 'Upstream (timeout) 'MyDoEvents 'Do something all at once WaitingFor 100 Case 0 'Into the tracking range bExit = True Case 2 'Downstream GoTo DoNext End Select Loop Until bExit = True 'Obtaining the operation terminating position in the case of PTP operation for the workpiece subject to tracking vRet = .Execute("CurTrackPosEx", Array(1, vPos, 1)) ' -> Return( , P(,,,,,, ) lErr = vRet(0) 'error info If lErr = 0 Then vCurPos = vRet(1) 'P type vCurPos(2) = vCurPos(2) + 70 'Z+70 caoCtrl.Variables("P61").Value = vCurPos '-------------------------------------------------------- 'MOVE P,P61 .Move 1, "P61", "NEXT" '.Move 1, Array(61, "P", ""), "NEXT" WaitingForRobotMotion '-------------------------------------------------------- .Execute "SetTrackMove", 1 'Conveyer 1 tracking is effective 'Chunck a workpiece '-------------------------------------------------------- 'APPROACH P,P60,@P 70, NEXT .Execute "APPROACH", Array(1, "P60", "@P 70", "NEXT") '.Execute "APPROACH", Array(1, Array(60, "P"), Array(70, "", "@P"), "NEXT") WaitingForRobotMotion 'MOVE P, P60, NEXT .Move 1, "P60", "NEXT" '.Move 1, Array(60, "P"), "NEXT" WaitingForRobotMotion WaitingFor 100 'Chucking a workpiece (such as IO(49) = 1) 'DEPART P,@P 30, NEXT .Execute "DEPART", Array(1, "@P 30", "NEXT") '.Execute "DEPART", Array(1, Array(30, "", "@P"), "NEXT") WaitingForRobotMotion '-------------------------------------------------------- .Execute "ResetTrackMove" 'Canceling conveyer 1 tracking 'Eject the workpiece '-------------------------------------------------------- 'APPROACH P,P70,@P 70, NEXT .Execute "APPROACH", Array(1, "P70", "@P 70", "NEXT") '.Execute "APPROACH", Array(1, Array(70, "P"), Array(70, "", "@P"), "NEXT") WaitingForRobotMotion 'Move P,@E P70, NEXT .Move 1, "@E P70", "NEXT" '.Move 1, Array(70, "P", "@E"), "NEXT" WaitingForRobotMotion 'DEPART P,@P 70, NEXT .Execute "DEPART", Array(1, "@P 70", "NEXT") '.Execute "DEPART", Array(1, Array(70, "", "@P"), "NEXT") WaitingForRobotMotion '-------------------------------------------------------- End If End If DoNext: End If Loop End With End Sub ' ---------------------------------------------------- 'Workpiece detection Private Sub WorkpieceDetection() Static lInvalidTick As Long If m_bDetectedSignal = True Then 'Waiting for 200msec (To don't detect same workpieces) If (GetTickCount() - lInvalidTick) > 200 Then m_bDetectedSignal = False ' Turn OFF Else Exit Sub End If End If 'Workpiece recognition results are always monitored '******************************************************** ' *** INSERT YOUR ORIGINAL CODE HERE ! *** ' (such as following code) Static bIOVal As Boolean Dim bStatus As Boolean bStatus = caoCtrl.Variables("IO48").Value If bStatus = True Then If bIOVal = False Then m_bDetectedSignal = True 'the workpiece is detected ! 'vDetectedPos indicates the position where the workpiece is detected Dim rPos(3) As Single rPos(0) = -400: rPos(1) = 400: rPos(2) = 100 '(X=-400, Y=400, Z=100) m_vDetectedPos = rPos() bIOVal = True End If Else bIOVal = False End If '******************************************************** If m_bDetectedSignal = True Then Debug.Print "Detected!", GetTickCount() 'Save the detected workpiece data to the conveyer tracking data buffer caoRob.Execute "TrackDataSet", Array(1, 1, m_vDetectedPos) lInvalidTick = GetTickCount() End If End Sub ' ---------------------------------------------------- 'Waiting for msec Private Sub WaitingFor(ByVal lTickCount As Long) Dim lStartTick As Long Dim lNowTick As Long lStartTick = GetTickCount() Do MyDoEvents 'Do semothings all at once lNowTick = GetTickCount() If (lNowTick - lStartTick) > lTickCount Then Exit Do Loop End Sub ' ---------------------------------------------------- 'Waiting for robot motion Private Sub WaitingForRobotMotion() Do MyDoEvents 'Do something all at once 'Exit if the termination signal ON If m_bTermSignal = True Then Exit Do 'Judges whether execution of running motion commands is complete If Not caoRob.Variables("@BUSY_STATUS").Value Then Exit Do WaitingFor 50 'Waiting for 50 msec Loop End Sub ' ---------------------------------------------------- Private Sub cmdExit_Click() Unload Me End Sub