Adept AdeptSight Reference Guide - Manual (Page 22)

Property Name Code
ModelBasedScaleFactorMode 220
ModelBasedMinimumScaleFactor 221
ModelBasedMaximumScaleFactor 222
ModelBasedRotationMode 223
ModelBasedMinimumRotation 224
ModelBasedMaximumRotation 225
ModelEnabled 405
FrameTranslationX (2400), FrameTranslationY (2401), and FrameRotation (2402) should be
replaced with the InstanceTranslationX (1315), InstanceTranslationY (1316), and
InstanceRotation (1314). The Instance parameter has been expanded to support all tools.
5. Table-mounted camera refinement has changed. In AdeptSight 2.x, a table-mounted camera is
treated as a special case, and the results are used to directly offset a target position for placement.
In AdeptSight 3.x, the table-mounted camera is not treated as a special case. If you use a table-
mounted camera, command code 1311 returns the world location of the located vision object.
In addition, the instruction InstanceToolOffset (command code 1372) has been added to return
the location of the vision object relative to the gripper tip at the time the picture was taken. For
details, see InstanceToolOffset.
6. Additional properties and corresponding command codes have been added to enable the reading of
a robot gripper IO:
Property Name Code
GripperOutputOpen 5511
GripperOutputClose 5512
GripperOutputRelease 5513
GripperInputOpen 5514
GripperInputClose 5515
GripperOutputExtend 5516
GripperOutputRetract 5517
GripperInputExtend 5518
GripperInputRetract 5519
NOTE: In version 3.1, the parameters for these were modified to the following:
RecentChanges
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
Page 22