Omron FH Series Connection Manual page 49

7.3.6. fhsample_trig
 Function
Sends measurement commands to the Vision Sensor and receives the measurement
results from the Vision Sensor
 Syntax
fhsample_trig(socket_no, retry_count, time_out, param[], err_no)
 Parameter
Parameter Input/Output Data
Name
socket_no Input
retry_count Input
time_out Input
param[] Output
err_no Output
 Remarks
Sends measurement commands to the Vision Sensor.
Receives the measurement results from the Vision Sensor and get the robot position.
Returns an error if called while not connected to the Vision Sensor.
Returns an error if a measurement command failure response is received from the Vision
Sensor.
Returns an error if the Vision Sensor's overall judgment is NG.
 Return Value
Err. No. Error Message
0 -
-1300 ERROR:fhrecvstring():RETRY:-1300
ERROR:fhrecvstring():TIMEOUT:-1300
Description
type
Real Number of sockets already connected to the
Vision Sensor
Real Number of receive retries (0 - 99)
Real Receive timeout time (0 to 99sec)
Real param[0]:Target X coordinate
param[1]:Target Y coordinate
param[2]:Target Z coordinate
param[3]:Target W(yaw) coordinate
param[4]:Target P(pitch) coordinate
param[5]:Target R (roll) coordinates
Real error number
Store the result of the execution of this
function.
47
Description
normal termination
Out of the range of
receive retry count input
Out of the input range