viTran6
(Library)
[for the Vision board]
Transforms the vision coordinates to robot coordinates (for 6 axes).
viTran6 (<Calibration number>, <Vision coordinate X>, <Vision coordinate Y>, <Robot coordinate (P type)>)
This statement transforms the vision coordinates (X, Y) to the robot absolute coordinates (X, Y, Z).
For execution of this library, it is required to execute vision calibration and transmit the vision calibration data with the controller.
Designate a number which executes vision calibration as a calibration number.
With this coordinate transformation, only the absolute coordinates (X, Y, Z) can be obtained. Figure data must be set separately in order to execute the MOVE instruction.
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'Stores the vision coordinate X to F1.
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'Stores the vision coordinate Y to F2.
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TAKEARM
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CHANGETOOL 1
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'Sets the fool to which vision calibration was performed.
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MOVE P,P10
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'Moves to the stand-by position.
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P11 = P10
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'Copies the figure at the stand-by position.
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CALL viTran6(0, F1, F2, P11)
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'Transforms the vision coordinates to the robot coordinates
'("0" of vision calibration is used).
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APPROACH P, P11, 100
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MOVE L, P11
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'Moves to the position measured with vision.
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DEPART L,100
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CHANGETOOL 0
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