108
7.3.
Moving Robot to Robot Image Position
For a processing to move the robot to the robot image position, follow the procedures
below.
1
Click [Robot Ref. Position] on
the Main Window of the Vision
Sensor to refer to the set robot
image position.
2
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; (2)Move the robot to the imaging position
; You have to configure the following robot position for your application.
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
std_img_pos_x =
300
std_img_pos_y =
-
350
std_img_pos_y =
350
std_img_pos_y =
0
std_img_pos_y =
180
std_img_pos_y =
45
Set the referenced robot image position to the variables.
3
;!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
; The following function drives a robot motion immediately.
; Confirm the settings before execution.
;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
CALL
fhsample_move
(std_img_pos_x, std_img_pos_y, std_img_pos_z, std_img_pos_w,
std_img_pos_p, std_img_pos_r)
; Error check
IF
err_no <> success
THEN
TYPE
"ERROR: fhsample_main():The robot position is out of range :"
, err_no
GOTO
10
END
TYPE
"Move to the imaging position Done."
Set the robot imaging position to the variables.
Robot motion sample function