vs_trigger()
Features
This function transmits the measurement command to the vision system. If the measurement is successful, the result is returned.(*VS_TYPE: DR_VS_COGNEX, DR_VS_SICK)
Return
| Value | Data Type | Description |
|---|---|---|
pos | posx | pos: measuring position of an object (posx parameter type) |
var_list | list[float] | var_list: Additional measurement results entered by Users ex) Check pass/fail, distance measurement, angle measurement, etc. |
-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()