PF_MobileCam

Describe the process used to move the robot to the image capture position, and to retreat back after image capturing, when using a mobile camera. This function will always run, regardless of whether or not a mobile camera is in use.

Syntax
Function PF_MobileCam(part ID As Integer, Action As Integer) As Integer
' (Move the robot to image capture position)
' (Retract the robot)
Fend

Parameters

• Part ID
  The part ID (integer number from 1 to 32) goes here.
  When multi-part operation, the active part goes here.
• Action
  The type of movement goes here.

  Type of movement	Constant (defined in PartFeeding.inc)
  Move robot to the image capture position (and perform vision imaging and feeder operations after this)	PF_MOBILECAM_BEFORE
  Retract the robot (and run the PF_Robot callback function after this)	PF_MOBILECAM_AFTER

Return values
Under normal circumstances, set the PF_CALLBACK_CALLBACK_SUCCESS constant (defined in PartFeeding.inc). To end this function to perform error processing, set a user-defined error number (8000 - 8999). This value is passed back as a PF_Status callback function parameter.

Description
This function runs before image capturing, and before the PF_Robot callback function is called.
After describing this function, test whether the robot can travel to the assigned destination points safely.

Program Example The following example describes a program used to move a mobile camera to the image capture position and retract it. Positions are defined as point data. Labeled as VisionPos for the image capture position, and HomePos for the retraction position.

' ** Point **
' VisionPos	Mobile camera image capture position
' HomePos	Mobile camera retraction position
'
Function PF_MobileCam(partID As Integer, Action As Integer) As Integer

    Select Action

        Case PF_MOBILECAM_BEFORE ' Move the robot to image capture position
            Jump VisionPos
        Case PF_MOBILECAM_AFTER ' Retract the robot
            Jump HomePos
    Send

    MobileCam = PF_CALLBACK_SUCCESS
Fend