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 FHSETUPMAIN 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.