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7. Designing Robot Programs
This chapter describes design examples of robot programs to construct applications
using a sample program (fhsample_main()).
Precautions for Correct Use
The implementation procedures for robot programs noted in this chapter are a
reference. You should design, implement, and test actually operating robot programs
based on your specific environment and applications.
In the Main Window or “Layout setup” of the Vision Sensor, check that the “Output” of
the current layout is ON. If the setting were OFF, the Vision Sensor will not output
measurement values.
The sample program (fhsample_main()) is implemented with the following
procedures.
Connecting the Vision Sensor to
the robot controller
Declare internal variables and initialize
external variables. Set IP addresses and
port numbers as arguments of a
connection function to the Vision Sensor
and execute the function.
Switching scenes on the Vision
Sensor
Set a switching destination scene
number as arguments of a scene
switching command execution sample
function and execute the function.
Moving the robot to the robot
image position
Read the robot imaging position from the
Vision Sensor, set it as arguments of a
robot motion sample function and
execute the function.
Executing measurements on the
Vision Sensor and Getting the
measurement results
Execute a current position registration
command execution sample function and
a measurement command execution
sample function.
Set the measurement results to
variables.
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