Adept DeskTop 4.3 - Manual (Page 157)

Adept DeskTop 4.3 - Online Help 157
VLOCATION
transformation function
Syntax
MicroV+
VLOCATION (sequence, tool, instance, result, index, frame)
V+
VLOCATION ( $ip , sequence, tool, instance, result, index, frame)
Description
Returns a Cartesian transform result of the execution of the specified vision sequence. The returned
value is a transform result: x, y, z, yaw, pitch, roll.
Parameters
Details
Parameters sequence, tool, instance, index, and frame are optional. These parameters are 1-based. If
no value is provided for these parameters, they default to 1.
In V+ the vision server is the PC on which the AdeptSight vision software is running.
To retrieve specific values
• To retrieve global values : sequence = -1, tool = -1
• To retrieve camera values : sequence = -1, tool = cameraIndex
• To retrieve camera-relative-to robot values: sequence = -1, tool = cameraIndex, index =
robotIndex
• To retrieve sequence values: sequence = sequenceIndex, tool = -1
To retrieve Belt Calibration related values (read only)
$ip IP address of the vision server.
Standard IP address format. For example 255.255.255.255.
This parameter applies to V+ syntax only.
sequence Index of the vision sequence. 1-based.
tool Index of the tool in the sequence. 1-based.
instance Index of the instance for which you want the transform. 1-based.
result Identifier of the result. Typically this value = 1311.
For gripper offset location this value can be set to 1400 and incremented by 1
for each additional gripper offset. The maximum value is 1499. See
Example
2 .
index Reserved for internal use. Value is always '1'.
frame Index of the frame that contains the specified instance.
Property sequence tool instance result ID index frame
Frame
-1 cameraIndex n/a 10000 robotIndex n/a
UpstreamLimit -1 cameraIndex n/a 10001 robotIndex n/a