Festo SBO***-Q Series, Manual

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A. Technical appendix
A-45
Festo P.BE-SBO-Q-EN en 1602e
Demo program
MODULE CAMERACOM
! DATA DECLARATIONS
! Camera settings
CONST string CameraIPAddress := ”192.168.2.10”;
CONST num CameraTelnetPortNo := 9999;
! General communication declarations
VAR socketdev ComSocket;
VAR string stReceived;
VAR socketstatus Status;
! −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
! Procedure Main
! Description:
! This demo program shows a telnet communication between controler
! an ABB robot and a Festo camera SBO...
− Q
! −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
PROC Main()
! Clear the display of the FlexPendant.
TPErase;
! Connect to the cameras telnet server.
ConnectToCamera;
! Get the version from the camera.
GetVersion;
! Let the camera perform a complete evaluation.
! This is only possible if the camera is in ready state.
Wait4Ready;
ImageTrigger;
! Get the first feature result from the camera.
Wait4Ready;
GetFlagWord ”10100”;
! Get a user defined data collection from the camera.
! This data collection has to be defined previously.
GetDataCollection ”RDC”;
! Change check program of the camera.
Wait4Ready;
ChangeProgram ”2”;
! Let the camera perform a complete evaluation.
! This is only possible if the camera is in ready state.
Wait4Ready;
ImageTrigger;