7.3.6. fhsample_trig Function Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor Syntax fhsample_trig(socket_no, retry_count, time_out, param[], err_no) Parameter Remarks Sends measurement commands to the Vision Sensor. Receives the measurement results from the Vision Sensor and get the robot position. Returns an error if called while not connected to the Vision Sensor. Returns an error if a measurement command failure response is received from the Vision Sensor. Returns an error if the Vision Sensor's overall judgment is NG.
Return Value 47 Parameter Input/Output Data Description Name type socket no _ Input Real Number of sockets already connected to the Vision Sensor retry count _ Input Real Number of receive retries (0 - 99) time out _ Input Real Receive timeout time (0 to 99sec) param[] Output Real param[0]:Target X coordinate param[1]:Target Y coordinate param[2]:Target Z coordinate param[3]:Target W(yaw) coordinate param[4]:Target P(pitch) coordinate param[5]:Target R (roll) coordinates err no _ Output Real error number Store the result of the execution of this function. Err. No.
Error Message Description 0 - normal termination -1300 ERROR:fhrecvstring():RETRY:-1300 Out of the range of receive retry count input ERROR:fhrecvstring():TIMEOUT:-1300 Out of the input range