Moving Robot To Robot Approach Position At Measurement - Omron Vision Sensor FH Series Connection Manual

6.7. Moving Robot to Robot Approach Position at Measurement

For a processing to move the robot to the robot approach position at measurement,
follow the procedures below.
By the procedures in Chapter 6.6, check that the measurement results are
1
stored in the variables "R091" to "R096".
The depth of the container, the height
of the workpiece position and the
length of the hand are taken into
account to determine the approach
distance to the workpiece.
2
Set the referenced robot approach distance to the variable and add the robot
approach distance to the measurement results acquired in Chapter 6.6.
';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
' (5) Move the robot to the
' approach position.
' You have to configure
' the following robot approach
' distance for your application.
';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
SET R089 50
ADD R093 R089
'set position
3
SET D099 EXPRESS R091 * 1000
SETE P099 (1) D099
SET D099 EXPRESS R092 * 1000
SETE P099 (2) D099
SET D099 EXPRESS R093 * 1000
SETE P099 (3) D099
SET D099 EXPRESS R094 * 10000
SETE P099 (4) D099
SET D099 EXPRESS R095 * 10000
SETE P099 (5) D099
SET D099 EXPRESS R096 * 10000
SETE P099 (6) D099
SETE P099 TL#(0)
Set the robot approach distance as a variable
Add the robot approach distance to the measurement
37
Approach distance