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 at the step 2 in Chapter 6.6, check that the measurement
1
results are stored in the variables
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 at step 2 in Chapter
6.6.
!;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
! (5)Move the robot to the approach position
! You have to configure the following robot approach
! distance for your application.
!;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
3
std_appro_dist := 30;
res_appro_pos_x := res_cmd_pos_x;
res_appro_pos_y := res_cmd_pos_y;
res_appro_pos_z := res_cmd_pos_z + std_appro_dist;
res_appro_pos_w := res_cmd_pos_w;
res_appro_pos_p := res_cmd_pos_p;
res_appro_pos_r := res_cmd_pos_r;
Set the variable as arguments for the robot motion sample function
(fhsample_move) and execute it.
!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
! The following function drives a robot motion immediately.
4
! Confirm the settings before execution.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
fhsample_move res_appro_pos_x, res_appro_pos_y, res_appro_pos_z, res_appro_pos_w,
res_appro_pos_p, res_appro_pos_r,err_no;
Set the robot approach distance to the variable.
34
Add the robot approach
distance to the
measurement results
Robot motion sample function
Approach distance