Adept AdeptSight Reference Guide Manual de usuario descargar pdf (Pagina 30)

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VLOCATION transformation function

Syntax

MicroV+

VLOCATION (sequence_id, tool_id, instance_id, result_id, index_id, frame_id)

V+

VLOCATION ($ip, sequence_id, tool_id, instance_id, result_id, index_id, frame_id)

Description

Returns a Cartesian transform result of the execution of the specified vision sequence. The returned value

is a transform result: x, y, z, yaw, pitch, roll.

Parameters

$ip

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the instance in the specified result frame. If no result frame is specified,

it is the index for all instances returned by the tool.

result_id Identifier (ID) of the result. Refer to the AdeptSight Properties Quick Reference

tables to find the ID for the required result.

Typically this value = 1311.

For gripper offset location, this value can be set to 1400 and incremented by 1

for each additional gripper offset. The maximum value is 1499. See Example 2.

index_id Reserved for internal use. Value is always 1.

frame_id Index of the frame for which you want to retrieve the result contained in the

specified instance.

Details

The following parameters are optional: sequence_id, tool_id, instance_id, index_id, and frame_id.

These parameters are 1-based. If no value is provided for these parameters, they default to 1.

For V+ systems, the vision server is the PC on which the AdeptSight vision software is running.

VLOCATION transformation function

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

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