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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

Omron fh series Construction Guide

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