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. ■Function execution error In all functions, the execution result (error number) is stored in the register variable 200. 7.2. Error Message The error message will be displayed on the user screen of the teaching pendant. 36 Function Name Description Reference FHDEFGLOBAL Initialize a global variable.
Chapter 7.3.1 FHCONNECT Connect to the Vision Sensor Chapter 7.3.2 FHCLOSE Disconnects from the Vision Sensor Chapter 7.3.3 FHSMPLCHGSN Switching the scene of the Vision Sensor Chapter 7.3.4 FHSMPLREGP Register the current robot position to the Vision Sensor Chapter 7.3.5 FHSMPLTRIG Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor Chapter 7.3.6 FHSMPLMOVE Move the robot Chapter 7.3.7 FHRUNSNDCMD Send a no-procedure command to the Vision Sensor Chapter 7.3.8 FHRUNRCVRES Receive a command response from the Vision Sensor Chapter 7.3.9 FHRUNRCVVAL Receive numerical data from the Vision Sensor Chapter 7.3.10