7.3.5. fhsample_trig Function Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor Syntax fhsample_trig fh_socket, retries_recv, timeout_recv, param{*}, err_no Parameter Remarks Sends measurement commands to the Vision Sensor. Receives the measurement results from the Vision Sensor and get the robot position. Returns an error if called while not connected to the Vision Sensor. Returns an error if a measurement command failure response is received from the Vision Sensor. Returns an error if the Vision Sensor's overall judgment is NG.
Return Value 45 Argument Input/Output Data type Description fh socket _ Input socketdev Data of socket already connected to the Vision Sensor retries recv _ Input num Number of receive retries (0 to 99) timeout recv _ Input num Receive timeout time (0 to 99sec) param{*} Output num param{1}:Target X coordinate param{2}:Target Y coordinate param{3}:Target Z coordinate param{4}:Target W(EX) coordinate param{5}:Target P(EY) coordinate param{6}:Target R(EZ) coordinate err no _ Output num error number Store the result of the execution of this function. Err. No.
Error Message Description 0 - normal termination -1300 ERROR:fhrecvstring():RETRY:-1300 Out of the range of receive retry count input ERROR:fhrecvstring():TIMEOUT:-1300 Out of the input range for the receive timeout count