Omron FH Series Connection Manual page 49

7.3.5. fhsample_regpos
 Function
Register the current robot position to the Vision Sensor.
 Syntax
fhsample_regpos(fh_socket, retries_recv, timeout_recv, err_no)
 Parameter
Argument Input/Output Data type
fh_socket Input
retries_recv Input
timeout_recv Input
err_no Output
 Remarks
Get the current robot position and register the current robot position to the Vision Sensor.
Return an error if this function is called while the Vision Sensor is not connected.
Returns an error if a response of current robot position registration failure is received
from the Vision Sensor.
 Return value
Err. No. Error Message
0 -
-1300 ERROR:fhrecvstring():RETRY:-1300
ERROR:fhrecvstring():TIMEOUT:-1300
-1303 ERROR:fhrecvstring():RETRY:-1303
-1304 ERROR:fhrecvstring():TIMEOUT:-1304
-1505 ERROR:fhsample_regpos() :
LOCAL_COORDINATE_NO :-1505
ERROR:fhsample_regpos() :
TOOL_COORDINATE_NO : -1505
-1601 ERROR:fhsample_regpos():No
Connection:-1601
-1800 ERROR:fhsample_regpos():Trigger NG:-
1800
Description
Integer Number of sockets already connected to the
Vision Sensor
Integer Number of receive retries (0 to 99)
Integer Receive timeout time (0 to 99sec)
Integer 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 for
the receive timeout count
Receive retry count overrun
Receive timeout time is over.
Out of the range of
Local Coordinate
Out of the range of
Tool Coordinate
Calling in the unconnected
state
Response NG