Executing Measurements On Vision Sensor And Getting Measurement Results - Omron FH Series Construction Manual

Set the variables as arguments for the robot motion sample function
(fhsample_move) and execute it.
 These operations drive the robot.
 Operate the robot in the state whereby pressing the
[Emergency stop] button can stop its motion anytime.
7.4.
Executing
Measurement Results
For a processing to execute measurements on the Vision Sensor and to get the
measurement results, follow the procedures below.
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1
; (3)Register the current position of the robot to the FH before measurement
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CALL
; Error check
IF err_no <> success
END
TYPE
Before executing measurements, execute the current position registration
command execution sample function (fhsmaple_regpos) to the Vision Sensor.
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2
; (4)Execute measurement and get the measurement results of the FH
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CALL
; Error check
IF err_no <> success
END
Execute the measurement command execution sample function (fhsmaple_trig)
to the Vision Sensor.
; Measurement results
3
res_cmd_pos_x = param［0］
res_cmd_pos_x = param［1］
res_cmd_pos_x = param［2］
res_cmd_pos_x = param［3］
res_cmd_pos_x = param［4］
res_cmd_pos_x = param［5］
TYPE
Set the measurement results to the variables.
Measurements
fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)
Current position registration command execution sample function
THEN
GOTO 10
"Register the current robot position Done."
fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)
THEN
TYPE "ERROR: fhsample_main(): Measure on the Vision controller
GOTO 10
"Measurement Done"
WARNING
on Vision
Measurement command execution sample function
109
Sensor and Getting
failed:", err_no