To register the current robot position to the Vision Sensor, use "fhsample_regpos". 32 2 Set the referenced imaging position to the variables. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (2)Move the robot to the imaging position ; You have to configure the following robot position for your application. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; std img pos x = 300 _ _ _ std img pos y = -350 _ _ _ std img pos y = 350 _ _ _ std img pos y = 0 _ _ _ Set the robot imaging position to the variables. std img pos y = 180 _ _ _ std img pos y = 45 _ _ _ 3 Set the variables as arguments for the robot motion sample function (fhsample move) and execute it.
_ ;!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ; The following function drives a robot motion immediately. ; Confirm the settings before execution. ;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! CALL fhsample move(std img pos x, std img pos y, std img pos z, std img pos w, _ _ _ _ _ _ _ _ _ _ _ _ _ std img pos p, std img pos r) _ _ _ _ _ _ Robot motion sample function ; Error check IF err no success THEN _ TYPE "ERROR: fhsample main():The robot position is out of range :", err no _ _ GOTO 10 END TYPE "Move to the imaging position Done." WARNING These operations drive the robot.
Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. 6.4. Register the Current Robot Position in the Vision Sensor 1 Before executing measurements, execute the current position registration c ommand execution function (fhsmaple regpos) to the Vision Sensor. _ ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (3)Register the current position of the robot to the FH before measurement ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; CALL fhsample_regpos(socket_no, retry_count, time_out, err_no) Current position registration command execution sample function ; Error check IF err_no success THEN GOTO 10