Table of Contents FrameTranslationX (2400), FrameTranslationY (2401), and FrameRotation (2402) should be replaced with the InstanceTranslationX (1315), InstanceTranslationY (1316), and InstanceRotation (1314). The Instance parameter has been expanded to support all tools. 5. Table-mounted camera refinement has changed. In AdeptSight 2.x, a table-mounted camera is treated as a special case, and the results are used to directly offset a target position for placement. In ACE Sight, the table-mounted camera is not treated as a special case. If you use a table-mounted camera, command code 1311 returns the world location of the located vision object.
In addition, the instruction InstanceToolOffset (command code 1372) has been added to return the location of the vision object relative to the gripper tip at the time the picture was taken. For details, see See "InstanceToolOffset". 6. Additional properties and corresponding command codes have been added to enable the reading of a robot gripper IO: NOTE: In version 3.1, the parameters for these were modified to the following: 7. Additional command codes have been added to enable the reading and writing of camera settings:
ACE Reference Guide, 18317-000 Rev A Page 30 Property Name Code GripperOutputOpen 5511 GripperOutputClose 5512 GripperOutputRelease 5513 GripperInputOpen 5514 GripperInputClose 5515 GripperOutputExtend 5516 GripperOutputRetract 5517 GripperInputExtend 5518 GripperInputRetract 5519 $ip IP address of the vision server sequence Not used. Must be -1. Tool The tip number Index The robot number Object The index of the signal number to access