50
7.4.5.
fhsample_regpos
Function
Register the current robot position to the Vision Sensor.
Syntax
fhsample_regpos()
Parameter
Parameter Name Input/O
utput
Type
Data type
Description
fh_socket_no
Input
Variable
Integer
Connected Socket Number (1
to 16)
fh_err_number
Output Variable
Integer
Error Number
(0:normal,Except 0:abnormal)
Remarks
Get the current robot position and register the current robot position to the Vision Sensor.
Return an error if this function is called while the Vision Sensor is not connected.
Returns an error if a response of current robot position registration failure is received
from the Vision Sensor.
Return value
Err. No.
Error Message
Description
0
-
normal termination
-1505
ERROR: fhsample_regpos () :
LOCAL_COORDINATE_NO :-1505
Out of the range of
Local Coordinate
ERROR: fhsample_regpos () :
TOOL_COORDINATE_NO : -1505
Out of the range of
Tool Coordinate
-1601
ERROR:fhsample_regpos():No
Connection:-1601
Calling in the unconnected
state
-1800
ERROR:fhsample_regpos():Trigger NG:-
1800
Response NG
Precautions
None
Example
In the following example, the current robot position is registered to the Vision Sensor.
CallProc fhsample_regpos()
