For a processing to switch scenes on the Vision Sensor, follow the procedures below. 6.3. Moving Robot to Robot Image Position For a processing to move the robot to the robot image position, follow the procedures below. 30 62: ; Connection function with the 63: CALL FHCONNECT('C1:',R[196],R[197]) ; Vision Sensor (FH server) 64: IF R[200] 0,JMP LBL[999] ; 6.2. Switching Scenes on the Vision Sensor Set a switching destination scene number as arguments of a switching command execution sample function (FHSMPLCHGSN) and execute it. 70: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 71: ! (1) Change the scene of the FH ; 72: ! You have to select a scene No. ; 73:
!;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; Scene number 77: ; Scene switching command 78: CALL FHSMPLCHGSN(R[198],R[199], 0 ) ; execution sample function 79: IF R[200] 0,JMP LBL[998] ; 1 Move the robot to the imaging position. Check the current robot position at the imaging position. 1 Set the referenced robot imaging position to the position register 100. The form of the robot reflects a form set at implementation. 81: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 82: ! (2) Move the robot to the ; 83: ! imaging position. ; 84: ! You have to configure ; 85: ! the following robot position ; 86: ! for your application. ; 87: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 2