6.5. Executing Measurements on Vision Sensor Send the measurement command to the Vision Sensor and receives a response to that command. 33 END TYPE "Register the current robot position Done." 1 To send the measurement command to the Vision Sensor, set the command name to "MEASURE" and execute "fhrunsendcmd".
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (4)Execute measurement and get the measurement results of the FH ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Send Measure Command $cmd_name = "MEASURE" $cmd_arg[0] = "" $cmd_arg[1] = "" $cmd_arg[2] = "" $cmd_arg[3] = "" $cmd_arg[4] = "" cmd_arg_num = 0 CALL fhrunsendcmd(socket_no, cmd_arg_num, $cmd_name, $cmd_arg[], err_no) nonprocedural command transmission function ;Error check IF err_no success THEN GOTO 10 END 2 To receive the response to the measurement command from the Vision Sensor, execute "fhrunrecvres".
;Recv Command Response CALL fhrunrecvres(retry_count, time_out, socket_no, cmd_res, err_no) command response receiving function ;Error check IF err_no success THEN GOTO 10 END ;Command Response Check IF cmd_res 1 THEN GOTO 10 If the response is not OK, exit the program. END