The Vision Sensor measurements are received using "fhrunrecvval". In this sample program, it is assumed that the Vision Sensor measurements are sent in the order "TJG X Y Z W P R". 33 6.6. Getting the Measurement Results In order to receive the measurement results from the Vision Sensor, we execute "fhrunrecvval" and check the received overall judgment value. ! Get the Measurement Result fhrunrecvval fh socket, retries recv, timeout recv, outputdata, err no; _ _ _ _ IF err no success THEN _ numerical sequence receiving function GOTO exit program; _ ENDIF !
Total Judge Check IF outputdata{1} 1 THEN If the overall judgment is not OK, exit the program GOTO exit program; _ ENDIF The measurement results X - R are stored in the variables. !Measurement results res_cmd_pos_x := outputdata{2}; res_cmd_pos_y := outputdata{3}; res_cmd_pos_z := outputdata{4}; The measurement results X-R res_cmd_pos_w := outputdata{5}; res_cmd_pos_p := outputdata{6}; res_cmd_pos_r := outputdata{7}; 1 2