7Appendix
Get-position-quick function Appendix-701
7.6 Get-position-quick function
7.6.1 Outline
The get-position-quick function (GPS function) allows monitoring and responding quickly to the input signal
from an external sensor, which enables the accurate robot position data acquisition according to the signal
input timing.
This function is used for the alignment correction (correcting a position deviation of a workpiece by the accu-
rate robot position data acquisition according to the timing when an external sensor passes) and the map-
ping (the workpiece presence recognition).
The GPS function has the following two functions. For details on how to use each function, refer to Page
705, "(1) Position data acquisition at the sensor input timing" or Page 706, "(2) Workpiece presence recogni-
tion in a cassette".
Table 7-24:GPS function list
7.6.2 Specifications of the GPS Function
The specifications of the GPS function are as shown in the table below.
Table 7-25:Specifications of the GPS function
No. Function Usage
1 Position data acquisition at the sensor input timing Alignment correction
2 Workpiece presence recognition in a cassette Mapping
Item Specifications
Position data acquisi-
tion at the sensor
input timing
Condition for the position
data acquisition
Define a condition for the position data acquisition in the Def Gps command.
Controlling to start/stop
monitoring
Control to start/stop monitoring the input signal with the GpsChk command.
Position data latch Store the position data in the P_GpsX() at the point in time when a condition for
the position data acquisition is met ("X" indicates the same number as the tar-
get monitoring number from 1 to 8).
(Up to 400 data)
Workpiece presence
recognition in a cas-
sette
Condition for the work-
piece presence recognition
Define a condition for the workpiece presence recognition in the Def Map com-
mand.
Controlling to start/stop
monitoring
Control to start/stop monitoring the input signal with the GpsChk command.
Position data latch Store the position data in the P_GpsX() at the point in time when a condition for
the position data acquisition is met ("X" indicates the same number as the tar-
get monitoring number from 1 to 8).
(Up to 400 data)
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