vs_set_init_pos(vision_posx_init, robot_posx_init, vs_pos=1)

Features

Enter the initial position information of the object to perform the vision guidance operation.
(*VS_TYPE: DR_VS_COGNEX, DR_VS_SICK)

Parameters

Parameter Name	Data Type	Default Value	Description
vision_posx_init	posx	-	Vision measurement coordinate initial value
robot_posx_init	posx	-	Coordinate initial value for robot work
vs_pos	int	1	The pos number of the initial value entered

Return

Value	Data Type	Description
vs_pos	int	Success – The entered pos number
-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()