RobotXYU Result
Runtime only
Applies To
Vision Objects: ArcFinder, ArcInspector, Blob, BoxFinder, CodeReader, Contour, ColorMatch, CornerFinder, Correlation, DefectFinder, Edge, Geometric, LineInspector, Point, Polar, Coordinates
Description
Returns the RobotX, RobotY and RobotU position coordinates of the found part’s position with respect to the robot coordinate system.
Usage
VGet Sequence.Object.RobotXYU [(result)], found, xVar, yVar, uVar
- Sequence
- Name of a sequence or string variable containing a sequence name.
- Object
- Name of an object or string variable containing an object name. The object must exist in the specified sequence.
- found
- Boolean variable representing whether the part you are looking for was found.
- xVar
- Real variable representing the X coordinate position of the detected part.
- yVar
- Real variable representing the Y coordinate position of the detected part.
- uVar
- Real variable representing the rotation angle of the detected part with respect to the robot coordinate system.
- result
- Result number. If omitted, the result number is the CurrentResult. Used for objects that return multiple results.
Values
- found: True or False
- xVar: Real number in millimeters
- yVar: Real number in millimeters
- uVar: Real number in degrees
Remarks
The RobotXYU result returns a position in the robot coordinate system and therefore can be used for robot guidance applications. The RobotXYU result returns a found part position in the robot coordinate system and therefore can be used for robot guidance applications. The RobotXYU result xVar and yVar values are always returned in millimeters. The uVar value is always returned in degrees. When used for a Point object, uVar always returns 0.
It should be noted that the RobotXYU result can only be calculated for vision sequences which have been calibrated with the robot coordinate system. If no calibration has been assigned to the vision sequence then the RobotXYU result cause an error to occur.
See Also
Blob Object, CameraX Result, CameraY Result, CameraXYU Result, CodeReader Object, Contour Object, Correlation Object, DefectFinder Object, Edge Object, Found Result, Geometric Object, PixelXYU Result, Point Object, Polar Object, BoxFinder Object, CornerFinder Object, RobotXOffset Property, RobotYOffset Property, RobotUOffset Property, RobotX Result, RobotY Result, RobotU Result, RobotToolXYU Result, Coordinates Object