The two types of robot programs covered in this manual are output from the Robot Vision Dataset Output Tool. Each program is used for a different purpose. 13 1.3. Robot Programs Covered in this Manual Program Program Name Detail Setup Program - This program allows the Vision Sensor to give operating instructions to the robot to configure the Vision Sensor for robot vision. This program consists of the following functions - Send the current robot position to the Vision Sensor. - Move to the indicated position on the Vision Sensor. Sample Program FHSMPLMAIN This program is a sample of the basic program flow for a pick application.
In this program, the robot gives control instructions to the Vision Sensor. The program consists of the following functions - Connecting to the Vision Sensor - Scene switching of the Vision Sensor - Moving to the measurement position - Registering the current robot position to the Vision Sensor - Execute measurement instructions to the Vision Sensor - Receives the position of the workpiece to be recognized - Move to approach position - Move to the target work location (grasping position) Based on this program, a pick-and-place application is built by adding the robot movement to operate the end-effector (hand) and to place the workpiece.