Omron Vision Sensor FH Series, Руководство по подключению

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
Precautions
The measurement result received from the Vision Sensor will be stored in the double type
of global variable “fh_param[]”. To get the measurement result with this function, Result
Output (Message) must be placed in the flow, and the settings must be as follows
Result Output (Message) Processing Item The destination of the received
measurement results
Setting
Target
Setting details
Output device IoModule2: Serial (Ethernet) -
Termination
string ∖ r (Carriage Return ） -
Delimiter
string ∖ x20 (Space) -
Output data 1 Overall judgment(*1) (Do not store)
Output data 2 Robot command position X(*1) fh_param[1]
Output data 3 Robot command position Y(*1) fh_param[2]
Output data 4 Robot command position Z(*1) fh_param[3]
Output data 5 Robot command position W(*1) fh_param[4]
Output data 6 Robot command position P(*1) fh_param[5]
Output data 7 Robot command position R(*1) fh_param[6]
*1: The output data format should be set as follows
- Data type: Number
- Digits of integer: 6
- Digits of decimal: 4

Example
In the following example, a measurement command is sent to the Vision Sensor, and
after receiving the measurement result from the Vision Sensor, the robot moves to the
position of the measurement result.
CallProc fhsample_trig()
res_cmd_pos_x = fh_param[1]
res_cmd_pos_y = fh_param[2]
res_cmd_pos_z = fh_param[3]
res_cmd_pos_w = fh_param[4]
res_cmd_pos_p = fh_param[5]
res_cmd_pos_r = fh_param[6]
CallProc fhsample_move(res_cmd_pos_x,res_cmd_pos_y,res_cmd_pos_z,
res_cmd_pos_w,res_cmd_pos_p,res_cmd_pos_r)