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VLOCATION
transformation function
Syntax
MicroV+ VLOCATION (sequence, tool, instance, result, index, frame)
V+
VLOCATION ($ip, sequence, tool, instance, result, index, frame)
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
Details
Parameters sequence, tool, instance, index, and frame are optional. These parameters are 1-based. If
no value is provided for these parameters, they default to 1.
In V+ the vision server is the PC on which the AdeptSight vision software is running.
To retrieve specific values
• To retrieve global values : sequence = -1, tool = -1
• To retrieve camera values : sequence = -1, tool = cameraIndex
• To retrieve camera-relative-to robot values: sequence = -1, tool = cameraIndex, index =
robotIndex
• To retrieve sequence values: sequence = sequenceIndex, tool = -1
To retrieve Belt Calibration related values (read only)
$ip IP address of the vision server.
Standard IP address format. For example 255.255.255.255.
This parameter applies to V+ syntax only.
sequence Index of the vision sequence. 1-based.
tool Index of the tool in the sequence. 1-based.
instance Index of the instance for which you want the transform. 1-based.
result Identifier of the 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 Reserved for internal use. Value is always '1'.
frame Index of the frame that contains the specified instance.
Property sequence tool instance result ID index frame
Frame
-1 cameraIndex n/a 10000 robotIndex n/a
UpstreamLimit
-1 cameraIndex n/a 10001 robotIndex n/a
- What would you like to do? 1
- Installing Adept DeskTop 2
- System Requirements 3
- Using Adept DeskTop Interface 6
- Program Editor Window 7
- Adept DeskTop Menus 9
- View Menu 10
- Utilities Menu 10
- Tools Menu 11
- Windows Menu 11
- Access Levels 12
- Changing Access Levels 13
- Access Level Manager 14
- Connecting to a Controller 19
- Address or Port of 20
- Connection status icon: 20
- Double-click to connect/ 20
- Adept DeskTop Layouts 21
- Operator Layout 22
- Deleting Layouts 23
- Saving DeskTop Layouts 25
- Setting Adept DeskTop Options 26
- Setting Controls Options 27
- Setting Desktop Options 29
- Setting Controller Options 30
- Program Manager Control 31
- Context menu 33
- Managing Programs in V+ 35
- Deleting Programs 36
- Assigning a Program to a Task 36
- Renaming a Program 36
- Managing Programs in MicroV+ 37
- Creating a New Program 39
- Saving Programs and Modules 41
- Saving Programs in MicroV+ 42
- Saving programs to NVRAM 43
- Saving Programs to the PC 43
- Task Manager Control 44
- Number of Tasks 45
- Task Handling 45
- Assigning Program to Tasks 48
- Executing Tasks 48
- Program Editor 50
- Program Editor Toolbar 51
- Syntax Highlighting 53
- Using the Program Editor 54
- Detecting Errors 55
- Debugging Programs 55
- Breakpoints 56
- Code Library Control 58
- Keyword Browser Control 62
- Variable Manager Control 64
- Add Task Monitoring 66
- 'Jog To' opens the 66
- Jog Pendant Control 66
- AUTO variables of task 66
- Creating a Variable 67
- Editing a Variable 68
- Adding a Watched Variable 69
- Operator Control 70
- Operations Manager 72
- Operation Editor 74
- Robot Control 76
- Jog Control 79
- Comp Mode 80
- Joint Mode 80
- World Mode 81
- Tool Mode 81
- Jog To Mode 81
- Location Management 82
- Precision Point Management 83
- Tool Transformation Control 84
- Frame Manager Control 85
- Creating a Frame of Reference 86
- Teach Frame Wizard 88
- Adept Graphics Window Control 90
- V+ Utilities Control 91
- Watch Variable Control 93
- Undefined variable 94
- Once defined, the 94
- Variable Browser 95
- Monitor Terminal Control 97
- Digital I/O Control 98
- Custom IO Signals 99
- Digital IO Toolbar 99
- Export Custom List from file 100
- Description of the 102
- State of the selected 102
- System Information Control 103
- File Manager Utility 104
- Related Topics 105
- Files displayed in 106
- File Manager Backup Utility 109
- Backing Up Data 110
- Restoring Data 112
- License Manager Utility 114
- MicroV+ Profiler Utility 116
- Pick And Place Wizard 119
- Configuration Manager Utility 120
- Configuration Manager Menus 124
- Item Descriptions 126
- Configuration Page 129
- Robot View 130
- Joint View 130
- Robot Configuration Page 132
- Workcell Obstacle View 133
- View control descriptions 134
- Hand Control Signals 135
- Advanced Robot Configuration 137
- Option Descriptions 142
- Destination 142
- Servo Reset 142
- Load File Report 145
- Restore Configuration 147
- Change Access Level 148
- Add Obstacles 150
- Delete Obstacles 150
- Edit Obstacles 151
- Display Obstacles 151
- Specify Hand Control Signals 153
- Edit Joint Limits 154
- VLOCATION 157
- DownstreamLimit 158
- VisionOrigin 158
- VPARAMETER 159
- VRUN sequence 162
- VRUN $ip, sequence 162
- VTIMEOUT 164
- VWAITI (sequence) type 165
- VWAITI (sequence) $ip, type 165
- Legal Notices 166
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