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7.5. Moving Robot to Robot Approach Position at Measurement.

For a processing to move the robot to the robot approach position at measurement,

follow the procedures below.

1

By the procedures in Chapter 7.4, check that the measurement results are

stored in the variables

2

Click [Robot Ref. Position] on the Main

Window of the Vision Sensor to refer to

the set robot approach distance.

3

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; (5)Move the robot to the approach position

; You have to configure the following robot approach distance for your application.

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

std_appro_dist = 30

res_appro_pos_x = res_cmd_pos_x

res_appro_pos_z = res_cmd_pos_z+std_appro_dist

res_appro_pos_x = res_cmd_pos_x

Set the referenced robot approach distance to the variable and add the robot

approach distance to the measurement results acquired at step 3 in Chapter

7.4.

4

;!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

; The following function drives a robot motion immediately.

; Confirm the settings before execution.

;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

CALL fhsample_move(res_appro_pos_x, res_appro_pos_y, res_appro_pos_z,

res_appro_pos_w, res_appro_pos_p, res_appro_pos_r)

; Error check

IF err_no <> success THEN

TYPE "ERROR: fhsample_main():The approach position is out of range :", err_no

GOTO 10

END

TYPE "Move to the approach position Done."

Set the robot approach distance to the variable.

Add the robot approach

distance to the measurement

results.

Robot motion sample function

Omron fh series Construction Guide

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