Robot Programs Covered In This Manual - Omron FH Series Robot Connection Manual

1.3.

Robot Programs Covered in this Manual

The two types of robot programs covered in this manual are output from the Robot
Vision Dataset Output Tool. Each program is used for a different purpose.
Program
Setup Program
Sample Program
Project Name
FHSETUPMAIN This program allows the Vision Sensor to
give operating instructions to the robot to
configure the Vision Sensor for robot
vision.
This program consists of the following
functions
- Send the current robot position to the
Vision Sensor.
- Move to the indicated position on the
Vision Sensor.
FHSAMPLEMAIN This program is a sample of the basic
program flow for a pick application.
In this program, the robot gives control
instructions to the Vision Sensor.
The program consists of the following
functions
the Vision Sensor
the Vision Sensor
be recognized
(grasping position)
Based on this program, a pick-and-place
application is built by adding the robot
movement to operate the end-effector
(hand) and to place the workpiece.
13
Detail
- Connecting to the Vision Sensor
- Scene switching of the Vision Sensor
- Moving to the measurement position
- Registering the current robot position to
- Execute measurement instructions to
- Receives the position of the workpiece to
- Move to approach position
- Move to the target work location