The Vision Sensor measurements are received using "fhrunrecvval". In this sample program, it is assumed that the Vision Sensor measurements are sent in the order "TJG X Y Z W P R". For a processing to move the robot to the robot approach position at measurement, follow the procedures below. 34 6.6. Getting the Measurement Results 1 In order to receive the measurement results from the Vision Sensor, we execute "fhrunrecvval" and check the received overall judgment value.
;Get the Measurement Result CALL fhrunrecvval(retry_count, time_out, socket_no, param[], err_no) numerical sequence receiving function ;Error check IF err_no success THEN GOTO 10 END ;Total Judge Check IF param[0] 1 THEN If the overall judgment is not OK, exit the program GOTO 10 Set the measurement results to the variables. ; Measurement results res cmd pos x = param［1］ _ _ _ res cmd pos y = param［2］ _ _ _ res cmd pos z = param［3］ _ _ _ res cmd pos w = param［4］ _ _ _ res cmd pos p= param［5］ _ _ _ res cmd pos r = param［6］ _ _ _ TYPE "Measurement Done" 2 6.7. Moving Robot to Robot Approach Position at Measurement.
1 By the procedures at the step 2 in Chapter 6.6, check that the measurement results are stored in the variables