Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
11 Programming
11.11
Subprogram VT_CLOSECONNECTION
Description
The subprogram VT_CLOSECONNECTION closes all existing connections to
the server. The configuration file is transferred. VT_CLOSECONNECTION is
executed in the advance run.
Syntax
VT_CLOSECONNECTION
("
Configuration file
")
Explanation of
the syntax
Example
11.12
Subprogram VT_CLEAR
Description
The subprogram VT_CLEAR ends the EKI channel. The configuration file is
transferred. VT_CLEAR is executed in the advance run.
Syntax
VT_CLEAR
("
Configuration file
")
Explanation of
the syntax
Example
11.13
Subprogram VT_CHECKPOSELIMIT
Description
The subprogram VT_CHECKPOSELIMIT determines whether the target robot
pose (here: P1') lies within the defined limit range. The defined limit value
specifies a range about the original robot pose (here: P1). The range is repre-
sented here by a circle. The defined limit value specifies the radius of the circle
in which the target robot pose must lie.
If e.g. a limit value of 100 mm is specified, the target robot pose must lie within
a radius of 100 mm about the original robot pose.
VT_CHECKPOSELIMIT is executed in the advance run.
Element
Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
VT_CLOSECONNECTION("VisionTechConfig")
Ensure that no data are called by a connection that has already been
terminated by VT_CLEAR.
Element
Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
VT_CLEAR("VisionTechConfig")
This subprogram only remains supported for reasons of compatibility.
It is recommended to use the subprogram VT_CHECKPOSE instead.
Summary of Contents for VisionTech 2.1
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