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Instancelocation – Adept AdeptSight Reference Guide User Manual

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InstanceLocation

VLOCATION

1311

Returns the location of the selected instance, in the frame of reference of the specified robot. If a gripper

offset has been assigned to the instance, it is automatically applied to the location. If no robot-to-vision

calibration has been carried out, InstanceLocation returns the location in the Vision frame of reference.

Read only.

Syntax

MicroV+

value = VLOCATION (sequence_id, tool_id, instance_id, 1311, index_id, frame_id)

V+

value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 1311, index_id, frame_id)

Remarks

If there is a single gripper offset, InstanceLocation (1311) is the same as

InstanceLocationGripperOffsetMinimum (1400). If there are multiple gripper offsets that can be

applied to the instance you should use InstanceLocationGripperOffsetMinimum = 1400 for the location

with the first gripper offset, InstanceLocationGripperOffsetMinimum = 1401 for the location with the

second gripper offset, and so forth for additional gripper offsets.

Parameters

$ip

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id

Index of the vision sequence. The first sequence is 1.

tool_id

Index of the tool in the vision sequence. The first tool is 1.

instance_id

Index of the instance for which the location is required.

ID

1311: the value used to reference this property.

index_id

Index of the robot.

frame_id

Index of the frame in which the instance is found. Typically this is '0' (i.e. the

Locator is not frame-based).

InstanceLocation

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 269