6. Description of the Sample Programs This chapter describes design examples of robot programs to construct applications using a sample program (fhsample_main()). You can understand how to implement a robot program to control the Vision Sensor as shown in the following figure. 3) Command execution Robot (Driving the robot etc.) Robot controller The sample program is implemented with the following procedures. When building an actual application, design, implement and test the robot program, utilizing the functions described in Chapter 7.
28 PC ensor 1) Control command 2) Command response (Measurement etc.) (Measurement value etc.) Sample Execution Program E 6.1 Connecting the Vision Sensor to the Robot Controller ▼ 6.2 Switching Scenes on the Vision Sensor ▼ 6.3 Moving the Robot to the Image Position ▼ 6.4 Register the Current Robot Position in the Vision Sensor ▼ 6.5 Executing Measurements on the Vision Sensor ▼ 6.6 Getting the Measurement Results ▼ 6.7 Moving the Robot to the Robot Approach Position at Measurement ▼ 6.8 Moving the Robot to the Robot Command Position at Measurement ▼ 6.9 Disconnecting the Vision Sensor from the Robot Controller