Adept AdeptSight Reference Guide - Manual (Page 282)

InstanceRobotLocation
VLOCATION
1371
Returns the location of the selected instance, in the frame of reference of the specified robot. No offset
transformations are applied to the location. If a gripper offset has been assigned to the instance, it is
ignored. If no vision-to-robot calibration has been carried out, the system returns an error. Read only.
Syntax
MicroV+
value = VLOCATION (sequence_id, tool_id, instance_id, 1371, index_id, frame_id)
V+
value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 1371, index_id, frame_id)
Type
Location
Remarks
This differs from InstanceLocation, which applies any calculated offset, and returns vision frame of
reference coordinates if there is no robot-to-vision calibration.
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 1371: 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).
Related Properties
InstanceRobotLocation
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
Page 282