7. Function Reference This chapter describes the functions for building a robot vision application 7.1. List of Functions This is a list of functions that can be used by the actual driving robot program. 7.2. Error Message The error message was stored in variables (“S085”, “S086”). Select [VARIABLE] - [STRING] to check the variables on programming pendant. 7.3. Parameter List Parameter in function was depending on the User variables. This is a list of User variables that can be used in function.
If needed, you can change the User variables 41 Function Name Description Reference FHCONNECT Connect to the Vision Sensor Chapter 7.5.1 FHCLOSE Disconnects from the Vision Sensor Chapter 7.5.2 FHSMPLREGPOS Register the current robot position to the Vision Sensor Chapter 7.5.3 FHSMPLTRIG Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor Chapter 7.5.4 FHRUNSENDCMD Send a no-procedure command to the Vision Sensor Chapter 7.5.5 FHRUNRECVRES Receive a command response from the Vision Sensor Chapter 7.5.6 FHRUNRECVVAL Receive numerical data from the Vision Sensor Chapter 7.5.7 User Description Function Name variable B097 Number of no-procedural command arguments to be sent to the Vision Sensor (0 to 5) FHRUNSENDCMD I093 Number of Local coordinate system (0 only) FHSMPLREGPOS I094 Number of Tool coordinate system (0 to 63) FHSMPLREGPOS I095 Number of connections retries (0 to 60) FHCONNECT I096 Connection Timeout Time (1 to 60sec) FHCONNECT I097 Number of receive retries (0 to 99) FHSMPLREGPOS FHSMPLTRIG FHRUNRECVRES FHRUNRECVVAL I098 Receive timeout time (0 to 99sec) FHSMPLREGPOS FHSMPLTRIG