Omron Vision Sensor FH Series Connection Manual page 49

Robot abb corporation edition

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 Example

In the following example, a measurement command is sent to the Vision Sensor, and

after receiving the measurement result from the Vision Sensor, the robot moves to the

position of the measurement result.

retries_recv := 2;

timeout_recv := 4;

fhsample_trig fh_socket, retries_recv, timeout_recv, param, err_no;

res_cmd_pos_x := param{1};

res_cmd_pos_y := param {2};

res_cmd_pos_z := param {3};

res_cmd_pos_w := param {4};

res_cmd_pos_p := param {5};

res_cmd_pos_r := param {6};

fhsample_move res_cmd_pos_x, res_cmd_pos_y, res_cmd_pos_z, res_cmd_pos_w,

res_cmd_pos_p, res_cmd_pos_r, err_no)

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