Switching Scenes On The Vision Sensor; Moving Robot To Robot Image Position - Omron FH Series Connection Manual

6.2.

Switching Scenes on the Vision Sensor

For a processing to switch scenes on the Vision Sensor, follow the procedures below.
Set a scene number for the switching destination to a variable.
1
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; (1)Change the scene of the FH
;
;
;
;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
scene_no =
Set the variables as arguments to the scene switching command execution
2
sample function (fhsample_chgscn) to the Vision Sensor and execute it.
CALL
; Error check
IF err_no <> success
END
TYPE
6.3.

Moving Robot to Robot Image Position

For a processing to move the robot to the robot image position, follow the
procedures below.
Move the robot to the imaging
1
position.
Check
position at the imaging position.
You have to select a scene No. for your application.
0 : Workpiece picking scene
1 : Grasp adjustment scene
2 : Workpiece picking scene
Scene number
0
fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)
THEN
TYPE "ERROR: fhsample_main(): Connection failed.
GOTO 10
"Change scene No. Done."
the current robot
Scene switching command execution sample function
31
Exit:", err_no