Omron Vision Sensor FH Series, Руководство по подключению

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7.4.6. fhsample_trig

Function
Sends measurement commands to the Vision Sensor and receives the measurement
results from the Vision Sensor

Syntax
fhsample_trig()

Parameter
Parameter Name Input/O
utput
Type Data type Description
fh_socket_no Input Variable Integer Connected Socket Number (1 to
16)
fh_param Output Variable Single fh_param[1]: position X
fh_param[2]: position Y
fh_param[3]: position Z
fh_param[4]: position RX(yaw)
fh_param[5]: position RY(Pitch)
fh_param[6]: position RX(Roll)
fh_err_number Output Variable Integer Error Number
(0:normal,Except 0:abnormal)

Remarks
Sends measurement commands to the Vision Sensor.
Receives the measurement results from the Vision Sensor and get the robot position.
Returns an error if called while not connected to the Vision Sensor.
Returns an error if a measurement command failure response is received from the Vision
Sensor.
Returns an error if the Vision Sensor's overall judgment is NG.

Return Value
Err. No. Error Message Description
0 - normal termination
-1502 ERROR:fhmeasureresult():PARAM_NUM:
-1502 Abnormal number of
parameters
-1601 ERROR:fhsample_trig():No Connection:
-1601 Calling in the
unconnected state
-1800 ERROR:fhmeasureresult():TRIG_NG:-1800 Response NG
-1801 ERROR:fhmeasureresult():TJG_NG:-1801 Overall judgment NG