机器人视觉ROBOTIO.xls

1、50PIN-IO50PIN-IO PINPIN号号I/OI/O号号定定义义PINPIN号号I/OI/O号号定定义义PINPIN号号 1 1DC24VDC24VCOMCOM IN00-07IN00-07DC24VDC24V1818DC24VDC24VCOMCOM IN08-15IN08-15DC24VDC24V3434 2 2DI00DI00StartStart绿绿按按扭扭1919DI08DI08泛泛用用输输入入夹夹爪爪气气缸缸正正常常位位3535 3 3DI01DI01SelProg1SelProg12020DI09DI09泛泛用用输输入入夹夹爪爪气气缸缸动动作作位位( (真真空空检检知知)

2、)3636 4 4DI02DI02SelProg2SelProg22121DI10DI10泛泛用用输输入入3737 5 5DI03DI03SelProg4SelProg42222DI11DI11泛泛用用输输入入3838 6 6DI04DI04StopStop急急停停按按扭扭2323DI12DI12泛泛用用输输入入3939 7 7DI05DI05PausePause黄黄按按钮钮2424DI13DI13泛泛用用输输入入4040 8 8DI06DI06ContinueContinue绿绿按按钮钮2525DI14DI14泛泛用用输输入入4141 9 9DI07DI07ResetReset2626DI1

3、5DI15泛泛用用输输入入4242 1010DO00DO00ReadyReady2727DO06DO06SErrorSError4343 1111DO01DO01RunningRunning绿绿按按钮钮灯灯2828DO07DO07WarningWarning4444 1212DO02DO02PausedPaused2929DO08DO08泛泛用用输输出出吸吸嘴嘴气气缸缸破破4545 1313DO03DO03ErrorError黄黄按按扭扭灯灯3030DO09DO09泛泛用用输输出出吸吸嘴嘴气气缸缸吸吸4646 1414DO04DO04EstopOnEstopOn3131DO10DO10泛泛用用

4、输输出出夹夹爪爪气气缸缸4747 1515DO05DO05SafeguardOnSafeguardOn3232NCNC4848 1616NCNC3333DC0VDC0VCOMCOM DO08-15DO08-15DC0VDC0V4949 1717DC0VDC0VCOMCOM DO00-07DO00-07DC0VDC0V5050 I/OI/O号号定定义义 DC24VDC24VCOMCOM IN16-23IN16-23DC24VDC24V DI16DI16泛泛用用输输入入 DI17DI17泛泛用用输输入入 DI18DI18泛泛用用输输入入 DI19DI19泛泛用用输输入入 DI20DI20泛泛用用输

5、输入入 DI21DI21泛泛用用输输入入 DI22DI22泛泛用用输输入入 DI23DI23泛泛用用输输入入 DO11DO11泛泛用用输输出出LOCKLOCK DO12DO12泛泛用用输输出出ULOCKULOCK DO13DO13泛泛用用输输出出 DO14DO14泛泛用用输输出出 DO15DO15泛泛用用输输出出 NCNC NCNC NCNC 50PIN-IO50PIN-IO 任意校正点P1点公式P2点 (相机)像素值(piex) X788.9611035.146 Y502.455952.494 (机器人)坐标值(mm) X63.05538.626 Y341.435316.406 像素差值(piex) X246.185X(P1)-X(P2) Y450.039Y(P1)-Y(P2) 坐标差值(mm) X-24.429X(P1)-X(P2) Y-25.029Y(P1)-Y(P2) 坐标系夹角()-195.6249514 单位换算(mm/piex) X0.068180204 Y0.068180204 像素坐标值(piex) X53.7915216770.57646511 Y34.2574842364.94123491 公式 180 机器人坐标系 X P0 P1 P2 R 视觉坐标系 O X Y Y X Y