For connecting the Vision Sensor to the Robot Controller, follow the procedures below. 30 6.1. Connecting Vision Sensor to Robot Controller According to Step 4 in Chapter 3.1, Set the IP address of the Vision Se nsor in the variable “S087” and the port number of the Vision sensor in the variable “S088”. 1 According to Step 5 in Chapter 3.1, Set the variables “I095” and “I096” as retry counts and timeout time when send data to Vision Sensor; Set the variables “I097” and “I098” as retry counts and timeout time when send receive data from Vision Sensor; 2 3 Set value of the operating mode variable “B099” to 2.
Set connection function name (FHCONNECT) as the value of variable “S089”, for connect to the Vision Sensor (FH server) and execute the function. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ' Connect to the FH server ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SET S089 "FHCONNECT" Connection function with vision sensor (FH server) SET B098 1 WAIT B098=0 IFTHENEXP I099 0 JUMP *EXIT ENDIF 4