Roboty2 result – Epson 5 User Manual

Page 142

RobotY2 Result

Applies To

Vision Objects: Line

Description

Returns the Y coordinate of the ending point position (Y2) of a Line object in the robot coordinate system.

Usage

VGet Sequence.Object.RobotY2, 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.

Values

Real number in millimeters

Remarks

Every line must have a starting point and ending point. The RobotY1 and RobotY2 results represent the Y
coordinate position starting (Y1) and endpoints (Y2) of the specified Line object. Since Line object
starting and endpoints can be assigned to other vision objects, the (RobotX1, RobotY1) and (RobotX2,
RobotY2) coordinate pairs can actually be robot coordinate positions which match the RobotX and RobotY
results for other vision objects. (In other words if a Line object's endpoint is defined by a Correlation object,
then the (RobotX, RobotY) results from the Correlation object will match the (RobotX2, RobotY2) results
for the Line object.)

The RobotY2 result is always represented in millimeters with respect to the robot coordinate system.

It should be noted that the RobotY2 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 RobotY2 result will cause an error to occur.