Robotu result – Epson 5 User Manual

Page 135

RobotU Result

Applies To

Vision Objects: Blob, Correlation, Edge, Geometric, Line, Polar

Description

Returns the U angle of the found part's position in the robot coordinate system.

Usage

VGet Sequence.Object.RobotU [(result)], var

Sequence Name of a sequence or string variable containing a sequence name.

Object

Name of an object or string variable containing an object name. The object must exist in the
specified sequence.

var

Real variable that will contain the value of the result.

result

Optional result number. If omitted, the result number is the CurrentResult. Used for objects
that return multiple results.

Values

Real value representing in degrees (0 if no calibration).

Remarks

The RobotU result is similar to the Angle result except that the position results are returned with reference
to the robot coordinate system. This means that the RobotU result is suited for robot guidance applications.
However, keep in mind that a special result called the RobotXYU result is most often used for robot
guidance because it returns not only the U, but also the X, and U coordinate positions as well as whether or
not the part was found. See RobotXYU Result for more information.

It should be noted that the RobotU result can only be calculated for vision sequences which have been
calibrated with the robot coordinate system. If no calibration has been assigned to the vision sequence then
the RobotU result will return 0.

Statistics

For the RobotU Result, the following statistics are available. RobotUMax, RobotUMean, RobotUMin,
RobotUStdDev. Please see Statistics in the Vision Guide manual for details about using statistics.