7.3.4. fhsample_regpos Function Register the current robot position to the Vision Sensor. Syntax fhsample_regpos fh_socket, retries_recv, timeout_recv, err_no Parameter Remarks Get the current robot position and register the current robot position to the Vision Sensor. Return an error if this function is called while the Vision Sensor is not connected. Returns an error if a response of current robot position registration failure is received from the Vision Sensor.
Return value 43 Argument Input/Output Data type Description fh socket _ Input socketdev Data of socket already connected to the Vision Sensor retries recv _ Input num Number of receive retries (0 to 99) timeout recv _ Input num Receive timeout time (0 to 99sec) err no _ Output num 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 for the receive timeout count -1301 ERROR:fhrecvstring():NO CONNECTION:
_ -1301 Calling in the unconnected state -1303 ERROR:fhrecvstring():RETRY:-1303 Receive retry count overrun -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is over. -1505 ERROR:fhreflectcoord() : LOCAL COORD NO :-1505 _ _ Out of the range of Local Coordinate ERROR:fhreflectcoord() : TOOL COORD NO : -1505 _ _ Out of the range of Tool Coordinate -1601 ERROR:fhsample regpos():No Connection: _ -1601 Calling in the unconnected state