VDefToolXYZ Method

Description
VDefToolXYZ uses vision detection to calculate tool XYZ offset values and define a tool.
Note:
The robot operates automatically based on the detection results of the target. Be careful of interference between the robot and peripherals. Also, use with avoiding singularity nearby posture that each axis extends to prevent an error during the tool set.

Syntax
Sub VDefToolXYZ(ToolNumber As Integer, LocalNumber As Integer, PointNumber1 As Integer, PointNumber2 As Integer, Sequence1 As String,Sequence2 As String, FinalAngle As Double, InitAngle As Double, TargetTolerance As Double, RobotSpeed As Integer, RobotAccel As Integer)

Sub VDefToolXYZ(ToolNumber As Integer, LocalNumber As Integer, PointNumber1 As Integer, PointNumber2 As Integer, Sequence1 As String,Sequence2 As String, FinalAngle As Double, InitAngle As Double, TargetTolerance As Double, RobotSpeed As Integer, RobotAccel As Integer, Parent As Form)

Parameters

• ToolNumber
  An integer (1 to 15) indicating the tool number to set.
• LocalNumber
  An integer indicating the local coordinate number to move the robot to. Tool is moved in the XY plane of the specified local coordinate.
• PointNumber1
  An integer indicating the first pose of the point number.
• PointNumber2
  An integer indicating the second pose of the point number.
• Sequence1
  A string expression indicating the vision sequence name for the first pose in the current project.
• Sequence2
  A string expression indicating the vision sequence name for the second pose in the current project.
• FinalAngle
  A real number indicating the rotation angle (degrees) of the tool and camera tool. Value range: 5 to 180, −5 to −180
• InitAngle
  A real number indicating the rotation angle (degrees) display when setting a temporary tool. This value must be smaller than FinalAngle. Value range: 0.01 to 10, -0.01 to -10
• TargetTolerance
  A real number indicating the pixel distance at which the vision detection result is considered to match the target position. Value range: 0.1 to 3.0 pixels
• RobotSpeed
  An integer variable indicating the robot speed (%). Value range: 1 to 100.
• RobotAccel
  An integer variable indicating the robot acceleration (%). Value range: 1 to 99.
• Parent
  Optional. A .NET form that is the parent of the window.

See Also
VDefTool Method, VDefToolXYZUVW Method

VDefToolXYZ Example
VB Example:

m_spel.VDefToolXYZ(1, 0, 1, 2, "seq01", "seq02", 5, 30, 1, 5, 5)  
m_spel.VDefToolXYZ(2, 0, 3, 4, "seq03", "seq04", 5, 30, 1, 5, 5)  
m_spel.VDefToolXYZ(3, 0, 5, 6, "seq05", "seq06", 5, 30, 1, 5, 5)  
m_spel.VDefToolXYZUVW(1, 2, 3, SpelToolDefType3D.Bar)  

C# Example:

m_spel.VDefToolXYZ(1, 0, 1, 2, "seq01", "seq02", 5, 30, 1, 5, 5);  
m_spel.VDefToolXYZ(2, 0, 3, 4, "seq03", "seq04", 5, 30, 1, 5, 5);  
m_spel.VDefToolXYZ(3, 0, 5, 6, "seq05", "seq06", 5, 30, 1, 5, 5);  
m_spel.VDefToolXYZUVW(1, 2, 3, SpelToolDefType3D.Bar);