VGetRobotToolXYU Method

Description
Retrieves robot world X, Y, and U values for tool definition.

Syntax
Sub VGetRobotToolXYU (Sequence As String, Object As String, Result As Integer, ByRef Found As Boolean, ByRef X As Single, ByRef Y As Single, ByRef U As Single)

Parameters

• Sequence
  A string expression indicating the vision sequence name for the current project.
• Object
  A string expression indicating the object name for the sequence.
• Result
  An integer expression indicating the result number.
• Found
  An integer variable indicating the Boolean found status. If found is false, then X, Y, and U are undefined.
• X
  A real number variable indicating the X coordinate in millimeters.
• Y
  A real number variable indicating the Y coordinate in millimeters.
• U
  A real number variable indicating the angle in degrees.

Remarks
Use VGetRobotToolXYU to easily define a tool for a part viewed by an upward camera. This allows you to pick up a part, search for it in the upward camera FOV, define a tool for the part, then place the part.

See Also
VGetCameraXYU Method, VGetPixelXYU Method, VGetRobotXYU Method

VGetRobotToolXYU Example
VB Example:

Dim found As Integer  
Dim x As Single, y As Single, u As Single  
Dim seq As String, blob As String  
  
seq = "testSeq"  
blob = "blob01"  
' Move part above upward camera  
m_spel.Jump("camPos")  
m_spel.VRun(seq)  
m_spel.VGetRobotToolXYU(seq, blob, 1, found, x, y, u)  
m_spel.TLSet(1, x, y, u)  

C# Example:

bool fnd;  
float x, y, u;  
string seq, blob;  
  
seq = "testSeq";  
blob = "blob01";  
// Move part above upward camera  
m_spel.Jump("camPos");  
m_spel.VRun(seq);  
m_spel.VGetRobotToolXYU(seq, blob, 1, out fnd, out x, out y, out u);  
m_spel.TLSet(1, x, y, u);