svm_set_init_pos_data(Id_list, Pos_list)

Features

Enter the initial id_list and posx_list information of the object to perform the vision guidance operation.

Caution

Be sure to set the settings before calling the function svm_get_offset_pos (posx_robot_init, job_id, tool_id).
Note : id_list and pos_list should be matched with posx corresponding to each id.

Parameters

Parameter Name	Data Type	Default Value	Description
Id_list	List(int)	-	Id list ([id, id, id, …])
Pos_list	List(Posx)	-	Posx list (ex.[posx, posx, posx, …])

Return

Value	Description
None	-

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