To register the current robot position to the Vision Sensor, use "fhsample_regpos". 31 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 := 250; _ _ _ std img pos y := 0; _ _ _ std img pos z := 400; _ _ _ Set the robot imaging position to the variables.
std img pos w := -180; _ _ _ std img pos p := 0; _ _ _ std img pos r := -180; _ _ _ 2 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. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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, err no; _ _ _ _ _ _ _ Robot motion sample function !Error check IF err no success THEN _ GOTO exit program; _ ENDIF 3 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 Before executing measurements, execute the current position registration command execution function (fhsmaple regpos) to the Vision Sensor. _ !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; !
(3)Register the current position of the robot to the FH before measurement !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; fhsample regpos fh socket, retries recv, timeout recv, err no; _ _ _ _ _ Current position registration command execution sample function !Error check IF err no success THEN _ GOTO exit program; _ ENDIF 1