7.5.3. FHSMPLREGPOS Function Register the current robot position to the Vision Sensor. Syntax SET S089 “FHSMPLREGPOS” 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 47 Argument Input/Output Data type Description I097 Input Integer Number of receive retries (0 to 99) I098 Input Integer Receive timeout time (0 to 99sec) I099 Output Integer 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 without connection. -1303 ERROR:fhrecvstring():RETRY:-1303 Receive retry count overrun -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is over. -1505 ERROR:fhsample regpos() : _ LOCAL COORDINATE NO :-1505 _ _ Out of the range of Local Coordinate ERROR:fhsample regpos() : _ TOOL COORDINATE NO : -1505 _ _ Out of the range of Tool Coordinate -1601 ERROR:fhsample regpos():No Connection:
_ -1601 Calling in the unconnected state