7.5.4. FHSMPLTRIG Function Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor Syntax SET S089 “FHSMPLTRIG” 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 49 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) R090 – R095 Output Real R090:Target X coordinate R091:Target Y coordinate R092:Target Z coordinate R093:Target W(Rx) coordinate R094:Target P(Ry) coordinate R095:Target R(Rz) coordinate 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 -1303 ERROR:fhrecvstring():RETRY:-1303 Receive retry count overrun -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is