Omron fh series Construction Guide

109
Set the variables as arguments for the robot motion sample function
(fhsample_move) and execute it.
WARNING
 These operations drive the robot.
 Operate the robot in the state whereby pressing the
[Emergency stop] button can stop its motion anytime.
7.4. Executing Measurements on Vision Sensor and Getting
Measurement Results
For a processing to execute measurements on the Vision Sensor and to get the
measurement results, follow the procedures below.
1
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; (3)Register the current position of the robot to the FH before measurement
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
CALL fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)
; Error check
IF err_no <> success THEN
GOTO 10
END
TYPE "Register the current robot position Done."
Before executing measurements, execute the current position registration
command execution sample function (fhsmaple_regpos) to the Vision Sensor.
2
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; (4)Execute measurement and get the measurement results of the FH
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
CALL fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)
; Error check
IF err_no <> success THEN
TYPE "ERROR: fhsample_main(): Measure on the Vision controller failed:", err_no
GOTO 10
END
Execute the measurement command execution sample function (fhsmaple_trig)
to the Vision Sensor.
3
; Measurement results
res_cmd_pos_x = param［0］
res_cmd_pos_x = param［1］
res_cmd_pos_x = param［2］
res_cmd_pos_x = param［3］
res_cmd_pos_x = param［4］
res_cmd_pos_x = param［5］
TYPE "Measurement Done"
Set the measurement results to the variables.
Current position registration command execution sample function
Measurement command execution sample function

Omron fh series Specifications

General

Type	Machine Vision System
Series	FH Series
Power Supply	24 VDC
Storage Temperature	-20 to 60°C
Humidity	35 to 85% RH (non-condensing)
Image Sensor	CMOS
Processing Speed	High-speed processing
Connectivity	Ethernet
I/O	Digital I/O
Operating System	Embedded OS
I/O Ports	Ethernet, USB