Acquiring the Camera Status from the 3D Vision Sensor The following describes a program that acquires the camera status of the 3D vision sensor and checks if the warmup of the camera is completed. 67 1 To send the camera status acquisition command to the vision system, set the nonprocedural command name to RBCOM GET CAMERA STATUS and execute the _ _ _ nonprocedural command transmission function (FHRUNSNDCMD). 16: LBL[990] ; 17: WAIT 1.00(sec); 18: CALL FHRUNSNDCMD(0,'RBCOM GET CAMERA STATUS','...','...','...','...','...'); _ _ _ 19:
IF R[200] 0,JMP LBL[998] ; nonprocedural command transmission function 2 To receive the response to the camera status acquisition command from the vision system, execute the numerical sequence receiving function (FHRUNRCVRES). 21: CALL FHRUNRCVVAL(R[198],R[199],170) ; numerical sequence receiving function 22: IF R[200] 0,JMP LBL[998] ; 23: IF R[170] 0,JMP LBL[998] ; 3 Keep sending the camera status acquisition command to the vision system until the camera status changes to warmup complete. 25: IF R[171]=(-1),JMP LBL[990] ; 26: ; If the camera status is warmup incomplete, send the camera status acquisition command again. 27:
IF R[171] (-1) AND R[171] 1,JMP LBL[998] ; If the camera status is not warmup complete or warmup incomplete, end the processing.