Roboty result – Epson 5 User Manual

Page 140

RobotY Result

Applies To

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

Description

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

Usage

VGet Sequence.Object.RobotY [(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

var

Real number in millimeters.

Remarks

The RobotX result returns an Y coordinate in the robot coordinate system, and can therefore be used 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 Y, but also the X, and U coordinate
positions as well as whether or not the part was found. See RobotXYU Result for more information.

The RobotY Result is always returned in millimeters.

It should be noted that the RobotY 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
using VGet to retreive the RobotY result will cause an error to occur.

Statistics

For the RobotY Result, the following statistics are available. RobotYMax, RobotYMean, RobotYMin,
RobotYStdDev. Please see Statistics in the Vision Guide manual for details about using statistics.