The following describes a program that acquires the near imaging position registered in Automatic Acquiring the Near Imaging Position Calibration (Vision Master) . 47 2 To receive the response to the camera calibration mode change command from the vision system, execute the numerical sequence receiving function (fhrunrecvval). CALL fhrunrecvval(retry_count, time_out, socket_no, param[], err_no) IF err_no success THEN numerical sequence receiving function GOTO 10 END IF param[0] 0 THEN GOTO 10 END 1 To acquire the near imaging position, set the first nonprocedural command argument $cmd arg[0] to 0.
To send the camera calibration imaging position acquisition _ command to the vision system, set the nonprocedural command name to RBCOM GET CALIB POS and execute the nonprocedural command transmission _ _ _ function (fhrunsendcmd). ;Get Calib Position Near $cmd_name = "RBCOM_GET_CALIB_POS" Set this argument to 0 to acquire the near $cmd_arg[0] = "0" imaging position.
$cmd_arg[1] = "" $cmd_arg[2] = "" $cmd_arg[3] = "" $cmd_arg[4] = "" cmd_arg_num = 1 CALL fhrunsendcmd(socket_no, cmd_arg_num, $cmd_name, $cmd_arg[], err_no) IF err_no success THEN nonprocedural command transmission function GOTO 10 END 2 To receive the near imaging position from the vision system, execute the numerical sequence receiving function (fhrunrecvval). Store the values of the received near imaging position in variables. CALL fhrunrecvval(retry_count, time_out, socket_no, param[], err_no) IF err_no success THEN numerical sequence receiving function GOTO 10 END IF param[0] 0 THEN GOTO 10 END