For a processing to move the robot to the robot command position at measurement, follow the procedures below. For a processing to disconnect the Vision Sensor from the Robot Controller, follow the procedures below. 35 6.8. Moving Robot to Robot Command Position at Measurement 1 By the procedures at step 2 in Chapter 6.6, check that the measurement results are stored in variables. 2 Set the variables as arguments for the robot motion sample function (fhsample move) and execute it. _ 172: ｲﾁﾚｼﾞ[100,3]=ｲﾁﾚｼﾞ[100,3]-ﾚｼﾞ[195] ; 173: ; Subtract the robot approach distance 174: !;!!!!!!!!! CAUTION !!!!!!!!!!! ; to the measurement results. 175: !The following function drives ; 176:
!a robot motion immediately. ; 177: !Confirm the settings ; 178: !before execution. ; 179: !;!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ; 180: ; 181: CALL FHSMPLMOVE(100) ; Robot motion sample function 182: IF R[200] 0,JMP LBL[998] ; WARNING These operations drive the robot. Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. 6.9. Disconnecting Vision Sensor from Robot Controller 1 Execute the disconnection function to the Vision Sensor. 188: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 189: ! (1) Disconnect to the FH server ; 190: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 191: ; 192: LBL[998] ; 193:
CALL FHCLOSE ; Disconnection function to the Vision Sensor (FH server) 194: ; 195: !EXIT Program ; 196: LBL[999] ;