7.3.4.
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
-1301
ERROR:fhrecvstring():NO_CONNECTION:
-1301
-1303
ERROR:fhrecvstring():RETRY:-1303
-1304
ERROR:fhrecvstring():TIMEOUT:-1304
-1505
ERROR:fhreflectcoord() :
LOCAL_COORD_NO :-1505
ERROR:fhreflectcoord() :
TOOL_COORD_NO : -1505
-1601
ERROR:fhsample_regpos():No Connection:
-1601
Description
socketdev
Data of socket already connected to the
Vision Sensor
num
Number of receive retries (0 to 99)
num
Receive timeout time (0 to 99sec)
num
error number
Store the result of the execution of this
function.
43
Description
normal termination
Out of the range of receive
retry count input
Out of the input range for
the receive timeout count
Calling in the unconnected
state
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