For a processing to switch scenes on the Vision Sensor, follow the procedures below. For a processing to move the robot to the robot image position, follow the procedures below. 31 6.2. Switching Scenes on the Vision Sensor 1 Set a scene number for the switching destination to a variable. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (1)Change the scene of the FH ; You have to select a scene No. for your application. ; 0 : Workpiece picking scene ; 1 : Grasp adjustment scene ; 2 :
Workpiece picking scene ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; scene no = 0 Scene number _ 2 Set the variables as arguments to the scene switching command execution sample function (fhsample chgscn) to the Vision Sensor and execute it. _ CALL fhsample chgscn(socket no, retry count, time out, scene no, err no) _ _ _ _ _ _ Scene switching command execution sample function ; Error check IF err no success THEN _ TYPE "ERROR: fhsample main(): Connection failed. Exit:", err no _ _ GOTO 10 END TYPE "Change scene No. Done." 6.3. Moving Robot to Robot Image Position 1 Move the robot to the imaging position. Check the current robot position at the imaging position.