InstanceRobotLocation InstanceRobotLocation VLOCATION 1371 Returns the location of the selected instance in the frame of reference for the specified robot. No offset transformations are applied to the location. If a gripper offset has been assigned to the instance, it is ignored. If no vision-to-robot calibration has been applied, the system returns an error. This property is read-only.
Syntax MicroV+ value = VLOCATION (sequence_id, tool_id, instance_id, 1371, index_id, frame_id) V+ value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 1371, index_id, frame_id) Type Location Remarks This differs from InstanceLocation, which applies any calculated offset and returns the vision frame of reference coordinates if there is no robot-to-vision calibration. Parameters ACE Reference Guide, 18317-000 Rev A Page 321 $ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP address format, for example: 192.168.1.120. sequence id _ Index of the vision sequence. The first sequence is 1. tool id _ Index of the tool in the vision sequence. The first tool is 1.
instance id _ Index of the instance for which the location is required. ID 1371: the value used to reference this property. index id _ Index of the robot. frame id _ Index of the frame in which the instance is found. Typically this is '0' (i.e. the Locator is not frame-based).