VLOCATION transformation function VLOCATION transformation function Syntax MicroV+ VLOCATION (sequence_id, tool_id, instance_id, result_id, index_id, frame_id) V+ VLOCATION ( $ip , sequence_id, tool_id, instance_id, result_id, index_id, frame_id) Description Returns a Cartesian transform result of the execution of the specified vision sequence. The returned value is a transform result: x, y, z, yaw, pitch, roll. Parameters Details The following parameters are optional: sequence_id, tool_id , instance_id , index_id , and frame_id . These parameters are 1-based. If no value is provided for these parameters, they default to 1.
For V+ systems, the vision server is the PC on which the ACE Sight vision software is running. ACE Reference Guide, 18317-000 Rev A Page 36 $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 in the specified result frame. If no result frame is specified, it is the index for all instances returned by the tool. result id _ Identifier (ID) of the result.
Refer to the ACE Sight Properties Quick Reference tables to find the ID for the required result. Typically this value = 1311. For gripper offset location, this value can be set to 1400 and incremented by 1 for each additional gripper offset. The maximum value is 1499. See Example 2. index id _ Reserved for internal use. Value is always 1. frame id _ Index of the frame for which you want to retrieve the result contained in the specified instance.