RobotY1 Result
Applies To
Vision Objects: BoxFinder, Line, LineFinder
Description
- Line, LineFinder: Returns the Y coordinate of the starting point position (Y1) of a Line object in the robot coordinate system.
- BoxFinder: Returns the Y (Y1) coordinate position for corner points of rectangles detected in a robot coordinate system.
Usage
VGet Sequence.Object.RobotY1[(result)], var
- 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.
- var
- Real variable that will contain the value of the result.
- result
- Optional result number. If omitted, the result number is the CurrentResult. Used for objects that return multiple results.
Values
Real number in millimeters.
Remarks
For Line, LineFinder
Every line must have a starting point and ending point. The RobotY1 and RobotY2 results represent the Y coordinate position starting (Y1) and endpoints (Y2) of the specified Line object. Since Line object starting and endpoints can be assigned to other vision objects, the (RobotX1, RobotY1) and (RobotX2, RobotY2) coordinate pairs can actually be Robot coordinate positions which match the RobotX and RobotY results for other vision objects. (In other words if a Line object's starting point is defined by a Correlation object, then the (RobotX, RobotY) results from the Correlation object will match the (RobotX1, RobotY1) results for the Line object.)
For BoxFinder
The robot coordinates for the four corners of a rectangle can be retrieved as Robot X1, 2, 3, 4 results and Robot Y1, 2, 3, 4 results. RobotY1 is used to retrieve the Y coordinate for the Corner1 point shown in the diagram below.
The Robot Y1 result always displays the position of the robot coordinates in millimeters.
It should be noted that the RobotY1 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 RobotY1 result will cause an error.
See Also
Angle Result, Line Object, LineFinder Object, PixelX Result, PixelX1 Result, PixelY Result, PixelY1 Result, PixelY2 Result, RobotX Result, RobotX1 Result, RobotX2 Result, RobotXYU Result, RobotY Result, RobotY2 Result, RobotX3 Result, RobotY3 Result, RobotX4 Result, RobotY4 Result, X1 Property, X2 Property, Y1 Property, Y2 Property, BoxFinder Object