Robotxyu result – Epson 5 User Manual

Page 139

RobotXYU Result

Runtime only

Applies To

Vision Objects: Blob, Correlation, Edge, Point, Polar

Description

Returns the RobotX, RobotY and RobotU position coordinates of the found part's position with respect to
the robot coordinate system.

Usage

VGet Sequence.Object.RobotXYU [(result)], found, xVar, yVar, uVar

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.

found

Boolean variable representing whether or not the part you are looking for was found.

xVar

Real variable that will contain the X coordinate position of the part.

yVar

Real variable that will contain the Y coordinate position of the part.

uVar

Real variable that will contain the angular position (rotation) of the part.

result

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

Values

found

True or False

xVar

Real number in millimeters

yVar

Real number in millimeters

uVar

Real number in degrees

Remarks

The RobotXYU result returns a position in the robot coordinate system and therefore can be used for robot
guidance applications. The RobotXYU result xVar and yVar values are always returned in millimeters.
The uVar value is always returned in degrees. When used for a Point object, uVar always returns 0.

It should be noted that the RobotXYU 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 RobotXYU result cause an error to occur.