Jmp 16

+20 Shield 2 : HP +100, SP +24, STR +2, ARM +4, SPD +2 Eyepatch 1 : SP +30, ARM +2Eyepatch 2 : ARM +4, CRI +20Title : SP +40, STR +4, ARM +5, SPD +2, CRI +30, LUC +30Set Effect (Set & Title)3 Set : ARM +15 Set : ARM +1, SPD +16 Set : STR +1, JMP +2Set Effect (Accessories & Exocore)2 Set : SP +123 Set : STR +1, ARM +14 Set : CRI +100White Tiger Box ContentStatsHair : SP +50, STR +3, CRI +10Eyes : StatlessTop 1 : STR +15, ARM +2, SPD +3, CRI +20 Top 2 : STR +7, ARM +1, SPD +2, CRI +20 Top 3 : HP +100, STR +4, SPD +1, CRI +10 Bottom 1 : STR +9, ARM +3, SPD +4, JMP +2, CRI +20 Bottom 2 : STR +5, ARM +3, SPD +3, JMP +2, CRI +20 Bottom 3 : SP +24, STR +4, ARM +2, SPD +2, JMP +1, CRI +10 Gloves 1 : HP +150, SP +70, STR +9, SPD +2, JMP +1, CRI +60 Gloves 2 : SP +40, STR +5, SPD +2, JMP +1, CRI +30 Gloves 3 : SP +12, STR +3, SPD +1, JMP +1, CRI +20 Shoes 1 : SPD +2, JMP +1, CRI +40Shoes 2 : STR +6, SPD +1, JMP +2Shoes 3 : SPD +6, JMP +2Cape 1 : SP +40, STR +3, SPD +2, JMP +1, CRI +20, LUC +50Cape 2 : HP +100, SP +24, STR +2, SPD +3Waist Item 1 : SPD +5, JMP +3, CRI +20 Waist Item 2 : HP +400, CRI +20 Necklace 1 : SP +60, JMP +1 Necklace 2 : HP +100, SP +24, STR +1, SPD +2, CRI +20 Title : SP +30, STR +4, ARM +3, SPD +5, JMP +3, LUC +100Set Effect :White Tiger Set : Hair, Top, Bottom, Glove, Shoes, Title3 : HP +505 : HP +50, SPD +16 : STR +1, JMP +2Accessories & Exocore : Eyes, Cape, Waist Item, Necklace, White Tiger Spear2 :SP +123 : STR +14 : SPD +15 : CRI +120Zodiac Boxes (Gemini,

Soft Event 5 13 DO_SE6 DO Soft Event 6 14 DO_SE7 DO Soft Event 7 15 DO_Reserved GO Reserved 16-31 DO_UserData_000 GO User Data 0 32-39 DO_UserData_001 GO User Data 1 40-47 Sample Below is a sample digital output configuration for the robot controller. Note: This is only a sample configuration; Rack 89, Slot 1 is necessary for robot setup. # RANGE RACK SLOT START STATUS 1 DO[ 1- 80] 0 0 0 UNASG 2 DO[ 81- 84] 48 1 21 ACTIV 3 DO[ 85- 100] 0 0 0 UNASG 4 DO[ 101-120] 48 1 1 ACTIV 5 DO[ 121-184] 89 1 1 ACTIV 6 DO[ 185-256] 89 1 65 ACTIV 7 DO[ 257-616] 89 1 153 ACTIV Group I/O Configuration GI# RACK SLOT START PT NUM PTS 1 89 1 5 3 2 89 1 33 16 3 89 1 49 16 4 89 1 65 16 5 89 1 81 16 6 89 1 97 16 7 89 1 113 16 8 89 1 129 16 # SIM VALUE 7/64 GI[ 1]U 0 [GI_Offline_Reas] GI[ 2]U 56 [GI_CurrentJob_ID ] GI[ 3]U 56 [GI_Ack_ID ] GI[ 4]U 56 [GI_Inspect_ID ] GI[ 5]U 0 [GI_Inspect ] GI[ 6]U 2426 [GI_X_Position ] GI[ 7]U 3208 [GI_Y_Position ] GI[ 8]U 242 [GI_Angle ] TPP Robot Controller Code The following sample code illustrates how to trigger the In-Sight vision system, get the Group input data, and the X, Y and Angle data (checking whether or not it is a negative value). The I/O values may change, depending on the robot I/O configuration. Note: This code retrieves the found location of the part, not an actual part offset.1: DO[121:DO_Trigger_Enable]=ON2: WAIT DI[121:DI_Trigger_Ready]=ON3: DO[122:DO_Trigger]=ON4:5: WAIT DI[122:DI_Trigger_Ack]=ON6: DO[122:DO_Trigger]=OFF8:9: IF DI[127:DI_Inspect_Complete]= OFF,JMP LBL[2]10:11: LBL[1]12: WAIT DI[127:DI_Inspect_Complete] =OFF13: JMP LBL[3]14:15: LBL[2]16: WAIT DI[127:DI_Inspect_Complete]=ON17:18: LBL[3]19:20: R[2:X Position]=GI[6:GI_X_Position]21: R[2:X Position]=R[2:X Position]/1022:23: IF DI[145:X_Negative]=OFF,JMP LBL[4]24: R[2:X Position]=R[2:X Position]*(-1)25:26: LBL[4]27:28: R[3:Y Position]=GI[7:GI_Y_Position]29: R[3:Y Position]=R[3:Y Position]/1030: IF DI[146:Y_Negative]=OFF,JMP LBL[5]31:32: R[3:Y Position]=R[3:Y Position]*(-1)33:34: LBL[5]35:36: R[4:Angle]=GI[8:GI_Angle]37: R[4:Angle]=R[4:Angle]/1038:39: IF DI[147:A_Negative]=OFF,JMP LBL[6]40:41: R[4:Angle]=R[4:Angle]*(-1)42:43: LBL[6]44:L @P[1] 50mm/sec FINE45:46:47:48: PR[1,1]=R[2:X Position]49: PR[1,2]=R[3:Y Position]50:51: PR[1,6]=PR[1,6]+R[4:Angle]52:53:L PR[1] 50mm/sec FINE54: WAIT .50(sec)55: PR[1,6]=47.00256:57:L @P[1] 100mm/sec FINE Note: The PR[1] value should equal the original pick-up position. This will ensure that the correct Z-Height and RX, RY values will be set. In-Sight Vision System and Robot Controller Calibration It is highly important to calibrate the In-Sight vision system's results from pixels into real-world measurement units, using a high-accuracy checkerboard calibration plate. This section covers

6: R[6:INTERMEDIATE_CALC]=R[51:REGISTER_CHOICE]*65536 ; 7: R[1:SEND_CAM]=R[50:PRODUCT_CHOICE]+256 ; 8: R[1:SEND_CAM]=R[1:SEND_CAM]+1 ; 9: R[1:SEND_CAM]=R[1:SEND_CAM]+R[6:INTERMEDIATE_CALC] ; 10: R[5:REC_ACK]=0 ; 11: SEND R[1:SEND_CAM] ; 12: RCV R[5:REC_ACK] LBL[1] TIMEOUT,LBL[1] ; 13: R[20:MEASURE_CNTR_CAM]=R[20:MEASURE_CNTR_CAM]+1 ; 14: JMP LBL[2] ; 15: !Measurement I/O ; 16: LBL[2] ; 17: IF R[5:REC_ACK]=1,JMP LBL[3] ; 18: !Measurement Not OK ; 19: IF R[20:MEASURE_CNTR_CAM]=1,JMP LBL[9] ; 20: IF R[20:MEASURE_CNTR_CAM]=2,JMP LBL[10] ; 21: LBL[10] ; 22: !In-Sight TO ROBOT ; 23: IF R[5:REC_ACK]=2 OR R[5:REC_ACK]=3 OR R[5:REC_ACK]=6,JMP LBL[4] ; 24: !ROBOT TO In-Sight ; 25: IF R[5:REC_ACK]=4 OR R[5:REC_ACK]=5 OR R[5:REC_ACK]=8 OR : R[5:REC_ACK]=9,JMP LBL[5] ; 26: !POSITION IS Not OK ; 27: IF R[5:REC_ACK]=12,JMP LBL[6] ; 28: LBL[4:Alarm Code 1] ; 29: R[2:ALARM CODE]=4 ; 30: JMP LBL[3] ; 31: LBL[5:Alarm Code 2] ; 32: R[2:ALARM CODE]=5 ; 33: JMP LBL[3] ; 34: LBL[6:Alarm Code 3] ; 35: R[2:ALARM CODE]=6 ; 36: JMP LBL[3] ; 37: LBL[3:End] ; In-Sight Serial Port Setup While connected to the vision system (with the vision system Offline): On the Sensor menu, click Serial Port Settings. Set the following properties in the Serial Port Settings Dialog: Baud Rate: 4800 Data Bits: 8 Stop Bits: 1 Parity: None Handshake: None Mode: Native Fixed Input Length: Unchecked Input Terminator: 13 Output Terminator: 13 Click OK. In-Sight Job Setup Use the sample included with the VE0010 protocol converter. Troubleshooting Serial with HyperTerminal In-Sight Serial Port Setup While connected to the vision system (with the vision system Offline): On the Sensor menu, click Serial Port Settings. Click the I/O Module button to open the I/O Module Configuration dialog and configure the I/O module. Press the OK button to close the I/O Module Configuration dialog and return to the Serial Port Settings dialog. Note: If the vision system is configured for use with the CIO-MICRO or CIO-MICRO-CC I/O module, the RS-232 TRANSMIT and RS-232 RECEIVE pins on the Breakout cable are disabled. Use the I/O module's RS-232 OUT port (DB9) to connect to a serial device. Set the following properties in the Serial Port Settings dialog: Baud Rate: 115200 Data Bits: 8 (set by default when using the CIO-1400) Stop Bits: 1 (set by default when using the CIO-1400) Parity: None Handshake: None Mode: Native Fixed Input Length: Disabled Input Terminator: 13 Output Terminator: 13 Verify that the dialog displays the "(attached)" message next to the I/O module that is physically attached to the vision system. Click OK. Set Up a Test