EPSON 自带CCD图像处理包的典型应用框架

        EPSON 自带CCD图像处理包的典型应用框架

       

Function main 
'******************************************** 
' Very important statement below: Use the * //非常重要的是在实际运行时，用合适的Z数值代替预定义的 ZHeight 。
' Z height which you wrote down earlier in * 
' Step 3 of "Teaching Robot Points for use * 
' with Vision Guidance. Substitute the * 
' Z height value (a negative number) which * 
' you wrote down in the place of the xx * 
' shown below. * 
'******************************************** 
#define ZHeight -xx  
Real area, x, y, u 
Boolean found 
Integer answer 
String msg$, answer$ 

Power Low 'Run robot at a slow speed and accel 
Tool 1 'Use Tool 1 for positioning 
Jump safept 'Move robot to safe start position 

Do 'Continue looping until user stops 
      Jump camshot  'Move robot to take picture 
      VRun blobtut 'Run the vision sequence blobtut 
      VGet blobtut.washer.RobotXYU, found, x, y, u 
         If found = TRUE Then  //判断 found 的值很重要，在将机器人移动到装配位置之前，判断是否找到了要装配的工件。如果没找到，进行另外的分支处理。
            VGet blobtut.washer.area, area 
            Print "The washer was found!" 
            Print "The washerarea is: ", area, "Pixels" 
            washpos = XY(x, y, ZHeight, u) 'Set pos to move to 
            Jump washpos  
            msg$ = "The washer was found!" 
         Else 
            msg$ = "The washer was not found!" 
         EndIf 
      msg$ = msg$ + Chr$(B) + Chr$(10) + "Run another cycle(Y/N)?" 
      Print msg$ 
      input answer$ 
         If Ucase$(answer$)<> "Y" Then 
            Exit Do 
         EndIf 
Loop 

Fend