Precautions The measurement result received from the Vision Sensor will be stored in the position register. To get the measurement result with this function, Result Output (Message) must be placed in the flow, and the settings must be as follows *1: The output data format should be set as follows - Data type: Number - Digits of integer: 6 - Digits of decimal: 4 Example In the following example, a measurement command is sent to the Vision Sensor, and after receiving the measurement result from the image sensor, the robot moves to the position of the measurement result.
CALL FHSMPLTRIG(2,10,100) CALL FHSMPLMOVE(100) 46 -1800 ERROR:FHMESRESULT:TRIG NG:-1800 _ Response NG -1801 ERROR:FHMESRESULT:TJG NG:-1801 _ Overall judgment NG -1802 ERROR:FHSMPLTRIG:TP Argument:-1802 Register value acquisition error -1803 ERROR:FHSMPLTRIG: SET EPOS REG:-1803 _ _ Failed to register the position in the position register Result Output (Message) Processing Item The destination of the Setting Target Setting Target Setting details Setting details received measurement results Output device IoModule2:
Serial (Ethernet) - Termination string ∖r (Carriage Return） - Delimiter string ∖x20 (Space) - Output data 0 Overall judgment(*1) (Do not store) Output data 1 Robot command position X(*1) PR[X,1] Output data 2 Robot command position Y(*1) PR[X,2] Output data 3 Robot command position Z(*1) PR[X,2] Output data4 Robot command position W(*1) PR[X,3] Output data 5 Robot command position P(*1) PR[X,4] Output data6 Robot command position R(*1) PR[X,5]