6.2. Automatic Calibration JOB file
6.2. Automatic Calibration JOB file
The following shows the entire example of the automatic calibration JOB file described in Chapter 4. Refer to Chapter 4 for the detailed description.
Program File Format Version: 1.6 MechType: 127(HA020-03) TotalAxis: 6 AuxAxis: 0
'_Pick-it Auto 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
'_
'_
PICKIT.ITF ENET1,CNX=0,WAIT=10 'Response wait time set to 10 seconds
V1%=1 'Pose designation variable
'_
1 PICKIT.CHK
IF PICKIT.STATUS=liCalibMode THEN 3 ELSE 99
3 DELAY 0.5
S1 MOVE P,P[V1%],S=60%,A=3,T=0
PICKIT.FCP
IF PICKIT.STATUS=liStatusErr THEN 99 ELSE 7
7 IF PICKIT.STATUS=liFCPOK THEN
V1%=V1%+1
ELSEIF PICKIT.STATUS=liFCPFail THEN
V1%=V1%
ENDIF
IF V1%>5 THEN 99 ELSE 3
99 END