6.1. Manual Calibration of JOB File
6.1. Manual Calibration of JOB File
The following shows the entire example of the manual calibration JOB file described in Chapter 4. Refer to Chapter 4 for the detailed description. This file is an example, and operation can be still performed using other methods. For the sake of user convenience, this example can be applied in other methods to write a file.
Program File Format Version: 1.6 MechType: 127(HA020-03) TotalAxis: 6 AuxAxis: 0
'_Pick-it Manual Calibration
'_Pick-it Mode
DIM liStatusErr AS Integer
DIM liRunMode AS Integer
DIM liIdleMode AS Integer
DIM liCalibMode AS Integer
'_Pick-it Status
DIM liFCPOK AS Integer
DIM liFCPFail AS Integer
DIM liObjFound AS Integer
DIM liNoObj AS Integer
DIM liNoImgCap AS Integer
DIM liCFGOK AS Integer
DIM liCFGFail AS Integer
DIM liSVSOK AS Integer
DIM liSVSFail AS Integer
'_Pick-it Type
DIM liSquare AS Integer
DIM liRectangle AS Integer
DIM liCircle AS Integer
DIM liEllipse AS Integer
DIM liCylinder AS Integer
DIM liSphere AS Integer
DIM liPointCloud AS Integer
DIM liBlob AS Integer
'_
liStatusErr=-1
liRunMode=0
liIdleMode=1
liCalibMode=2
'_
liFCPOK=10
liFCPFail=11
liObjFound=20
liNoObj=21
liNoImgCap=21
liCFGOK=40
liCFGFail=41
liSVSOK=50
liSVSFail=51
'_
liSquare=21
liRectangle=22
liCircle=23
liEllipse=24
liCylinder=32
liSphere=33
liPointCloud=35
liBlob=50
'_
ENET1.IP="192.168.1.11"
ENET1.RPORT=5001
ENET1.LPORT=5001
ENET1.OPEN 1
CLR_RBUF ENET1
DELAY 1
'_
'_
1 PICKIT.ITF ENET1,CNX=0,WAIT=10
2 DELAY 1
3 PICKIT.CHK
4 IF PICKIT.STATUS=liCalibMode THEN 5 ELSE 8
5 DELAY 5
6 PICKIT.FCP
7 DELAY 5 'Manual execution in the unit of cmd, Stop here, Robot moves, Execute movement to 6
8 END