Acquiring the Calibration Date/Time Comparison Result the from 3D Vision Sensor The following describes a program that checks if the date of calibration of the 3D vision sensor matches the internal date of the vision system and determines whether the AOS camera calibration must be executed. 45 2 To receive the response to the camera status acquisition command from the vision system, execute the numerical sequence receiving function (fhrunrecvval).
CALL fhrunrecvval(retry_count, time_out, socket_no, param[], err_no) IF err_no success THEN numerical sequence receiving function GOTO 10 END IF param[0] 0 THEN GOTO 10 END 3 Keep sending the camera status acquisition command to the vision system until the camera status changes to warmup complete. CASE param[1] OF VALUE -1: If the camera status is warmup incomplete, send the camera warmup_flg = 0 status acquisition command again. WAIT 1000 VALUE 1: If the camera status is warmup complete, proceed to the next warmup_flg = 1 processing.
ANY GOTO 10 END END 1 To send the date/time comparison result acquisition command to the vision system, set the nonprocedural command name to RBCOM GET CALIBTIME COMP and execute _ _ _ the nonprocedural command transmission function (fhrunsendcmd). ;Get Calib time $cmd_name = "RBCOM_GET_CALIBTIME_COMP" $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) IF err_no success THEN nonprocedural command transmission function GOTO 10 END