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7.5.
Moving Robot to Robot Approach Position at Measurement.
For a processing to move the robot to the robot approach position at measurement,
follow the procedures below.
1
By the procedures in Chapter 7.4, check that the measurement results are
stored in the variables
2
Click [Robot Ref. Position] on the Main
Window of the Vision Sensor to refer to
the set robot approach distance.
3
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; (5)Move the robot to the approach position
; You have to configure the following robot approach distance for your application.
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
std_appro_dist =
30
res_appro_pos_x = res_cmd_pos_x
res_appro_pos_x = res_cmd_pos_x
res_appro_pos_z = res_cmstd_appro_dist
res_appro_pos_x = res_cmd_pos_x
res_appro_pos_x = res_cmd_pos_x
res_appro_pos_x = res_cmd_pos_x
Set the referenced robot approach distance to the variable and add the robot
approach distance to the measurement results acquired at step 3 in Chapter
7.4.
4
;!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
; The following function drives a robot motion immediately.
; Confirm the settings before execution.
;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
CALL
fhsample_move
(res_appro_pos_x, res_appro_pos_y, res_appro_pos_z,
res_appro_pos_w, res_appro_pos_p, res_appro_pos_r)
; Error check
IF
err_no <> success
THEN
TYPE
"ERROR: fhsample_main():The approach position is out of range :"
, err_no
GOTO
10
END
TYPE
"Move to the approach position Done."
Set the robot approach distance to the variable.
Add the robot approach
distance to the measurement
results.
Robot motion sample function
