The Vision Sensor measurements are received using "fhrunrecvval". In this sample program, it is assumed that the Vision Sensor measurements are sent in the order "TJG X Y Z W P R". 6.7. Moving Robot to Robot Approach Position at Measurement For a processing to move the robot to the robot approach position at measurement, follow the procedures below. 33 6.6. Getting the Measurement Results In order to receive the measurement results from the Vision Sensor, we execute "FHRUNRECVVAL" and check the received overall judgment value. 130: CALL FHRUNRCVVAL(R[198],R[199],180) ; 131: IF R[200] 0,JMP R[998] ; numerical sequence receiving function 132: ; 133:
IF R[180] 1,JMP R[998] ; If the overall judgment is not OK, exit the program 1 2 The measurement results X - R are stored in registers 181 - 186. By the procedures at the step 2 in Chapter 6.6, check that the measurement results are stored in the variables 1 The depth of the container, the height of the workpiece position and the length of the hand are taken into account to determine the approach distance to the workpiece. Approach distance 2 Set the referenced robot approach distance to the register 195 and add the robot approach distance to the measurement results acquired at step 2 in Chapter 6.6. 135: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 136: ! (5) Move the robot to the ; 137: !
approach position. ; 138: ! You have to configure ; 139: ! the following robot approach ; 140: ! distance for your application. ; 141: !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 142: ; 3