InstanceLocation InstanceLocation VLOCATION 1311 Returns the location of the selected instance in the frame of reference of the specified robot. If a gripper offset has been assigned to the instance, it is automatically applied to the location. If no robot-to-vision calibration has been applied, InstanceLocation returns the location in the vision frame of reference. This property is read-only.
Syntax MicroV+ value = VLOCATION (sequence_id, tool_id, instance_id, 1311, index_id, frame_id) V+ value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 1311, index_id, frame_id) Remarks If there is a single gripper offset, InstanceLocation (1311) is the same as InstanceLocationGripperOffsetMinimum (1400). If there are multiple gripper offsets that can be applied to the instance, you should use InstanceLocationGripperOffsetMinimum = 1400 for the location with the first gripper offset, InstanceLocationGripperOffsetMinimum = 1401 for the location with the second gripper offset, and so on, for additional gripper offsets.
Parameters ACE Reference Guide, 18317-000 Rev A Page 307 $ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP address format, for example: 192.168.1.120. sequence id _ Index of the vision sequence. The first sequence is 1. tool id _ Index of the tool in the vision sequence. The first tool is 1. instance id _ Index of the instance for which the location is required. ID 1311: the value used to reference this property. index id _ Index of the robot. frame id _ Index of the frame in which the instance is found. Typically this is '0' (i.e. the Locator is not frame-based).