Omron FH Series Connection Manual page 53

Robot vision system denso wave incorporated edition

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 Example

In the following example, a measurement command is sent to the Vision Sensor, and

after receiving the measurement result from the Vision Sensor, the robot moves to the

position of the measurement result.

retries_recv = 2

timeout_recv = 4

Call fhsample_trig(fh_socket, retries_rev, timeout_recv, param(), err_no)

res_cmd_pos_x = param(0)

res_cmd_pos_y = param(1)

res_cmd_pos_z = param(2)

res_cmd_pos_w = param(3)

res_cmd_pos_p = param(4)

res_cmd_pos_r = param(5)

Call fhsample_move(res_cmd_pos_x, res_cmd_pos_y, res_cmd_pos_z,

res_cmd_pos_w, res_cmd_pos_p, res_cmd_pos_r, err_no)

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