In Scorpion-Central we have created a page MOTOMAN and inserted the MotoMan plugin. We have activated the plugin event OnTrigger where  we will tell Scorpion to grab a new image, do an inspection and give the robot a position and a result due to the inspection result when the robot is in position.

Robot Program

0022 ...
0023 ...
0024 SET B014 1  'set register B014 to 1 to signal robot in position
0025 SAVEV B014  'notify Scorpion robot in position 
0026 LOADV B015  'wait for Scorpion inspection result
0027 LOADV P005  'wait for Scorpion position results 
0028 ...
0029 ...

Scorpion Events

Central.Start

print MOTOMAN.Connect('comport=1;path=c:\\')

'BeforeStart' - System Event

MOTOMAN.Trigger

 print 'CameraTrigger',ExecuteCmd('CameraTrigger','')

'AfterInspect' - System Event

In the Scorpion 'AfterInspect' system event, the SetResult script sends the position to be robot

Script.SetResult

def Motoman_SetResult():
  #get vision result from toollist
  ok=str(GetIntValue('VisionStatus.Value'))
  dx=str(GetValue('Position.Point_x'))
  dy=str(GetValue('Position.Point_y'))
  a = str(GetValue('PickReference.Angle'))
  #send data to robot
  print MOTOMAN.SetByte('varno=18;value='+ok)
  print MOTOMAN.SetPosition('varno=5;dx='+dx+';dy='+dy+';angle='+a)

  #reactivate robot
  Motoman_Activate()

'AfterStop' - System Event