vs_get_offset_pos(vision_posx _meas, vs_pos=1)
Features
The coordinate of the robot is calculated using the coordinate values, measured in the vision system. The initial value should be entered in advance through vs_set_init_pos.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vision_posx_meas | posx | - | Vision measurement coordinate values, caculated using vs_trigger |
vs_pos | int | 1 | Pos number of the robot initial value to calculate offset coordinate |
Return
| Value | Data Type | Description |
|---|---|---|
robot_posx_meas | posx | Success |
-1 | int | Failed |
Example
PY
vs_set_info(DR_VS_COGNEX) # Select type of vision sensor
vs_connect("192.168.137.10") # Vision IP, Default port
vis_posx = posx (410,310,300,0,0,0) # Define the initial posx data - vision
rob_posx = posx (400,300,300,0,180,0) # Define the initial posx data - robot
vs_set_init_pos(vis_posx, rob_posx, VS_POS1) # Enter the initial posx data to Vision
for i in range(10):
pos, var_list = vs_trigger() # Execute the vision meausrement
if var_list[0] == 1: # Check the inspection result
robot_posx_meas = vs_get_offset_pos(pos, VS_POS1) # offset the robot pose
movel(robot_posx_meas) # move the robot pose
else:
tp_popup("Inspection Fail")
vs_disconnect()