svm_get_offset_pos(posx_robot_init, job_id, tool_id)

Features

The robot task coordinate information reflecting the vision measurement result is loaded into the robot work coordinate input by the user.

Procedure: Input posx_robot_init → Vision measurement → Call svm_get_offset_pos → Changed robot work coordinates (posx_robot_offset) output

Parameters

Parameter Name	Data Type	Default Value	Description
posx_robot_init	posx	-	Robot task coordinate information) (Input by direct teaching method.)
job_id	Int	-	Vision job id (ex. 1000, 2000, 3000, …)
tool_id	int	-	Vision tool id (ex. 1000, 1001, 1002, …)

Return

Value	Description
posx	Robot work coordinate information reflecting vision measurement result
-1	Failed – No measurement data or input variable error.

Example

PY

svm_connect()                              # Connect to vision 
vision_test=1000                            # Define vision job ID
count=svm_get_vision_info(vision_test)        # Execute the vision measurement
if (count == 1):                            # Check the result 
   # Get the position information (posx) of vision_test tool
   pos_result=svm_get_variable(vision_test, POSX_TYPE)
   tp_popup("{0}".format(pos_result))   
   # Get the vision guided robot pose
ld_list =[vision_test]
   pos_list =[pos_result]
svm_set_init_pos_data(Id_list,pos_list)


   rob_posx=svm_get_offset_pos(posx(200,200,100,0,180,0), vision_test)
   tp_popup("{0}".format(rob_posx))   
   # move to the rob_posx
   movel(rob_posx, vel=30, acc=100)   
svm_disconnect()                              # Disconnect to vision