36
3
Set the variables as arguments for the robot motion sample function
(fhsample_move) and execute it.
CallProc fhsample_move(fh_move_position[1],fh_move_position[2],fh_move_position[3],
fh_move_position[4],fh_move_position[5],fh_move_position[6])
'Error check
IF fh_err_number <> fh_success
GoTo *CLOSE_SAMPLE
ENDIF
WARNING
These operations drive the robot.
Operate the robot in the state whereby pressing the
[Emergency stop] button can stop its motion anytime.
6.4.
Register the Current Robot Position in the Vision Sensor
To register the current robot position to the Vision Sensor, use "fhsample_regpos".
1
Before executing measurements, execute the current position registration
command execution function (fhsmaple_regpos) to the Vision Sensor.
'(3) Register the current position of the robot to the FH before measurement
CallProc fhsample_regpos()
'Error check
IF fh_err_number <> fh_success
GoTo *CLOSE_SAMPLE
ENDIF
Current position registration command
execution sample function
Robot motion sample function
