VDefArm Statement

Applies To
Vision Calibration

Description
VDefArm calculates an arm set value of the mobile J2 camera using a feature point detectable by the vision system.

Usage

VDefArm  ArmNumber, ArmType, ArmsetMode,Sequence, [Rotation],[TargetTolerance], [RobotSpeed], [RobotAccel], [ShowWarning]

ArmNumber

Integer variable that contains the arm number to perform arm set (1 to 15).

ArmType

Integer expression that contains the arm type.

VISION_DEFARM_J2CAM: calculates a center of mobile J2 camera image.

\ArmsetMode

Integer variable that contains the arm set mode.

• VISION_DEFARM_MODE_ROUGH: A mode to run a rough arm set. Although the robot motion is small, setting accuracy will be about 1 mm.
• VISION_DEFARM_MODE_FINE: A mode to run a fine arm set. By operating the robot largely while changing the hand orientation, it realizes arm setting with a higher accuracy.

Sequence

Name of a sequence or string expression containing a sequence name

Rotation

Real variable displaying the angle of rotation (degrees) for approximate arm setting

Value range: 0 to 45
Default: 5 degrees
When set to “0”, or when left unspecified, this value will be set to “5”.

TargetTolerance

Real variable displaying the pixel distance in which vision detection results are considered a match with the target position

Value range: 0, 0.1 to 3.0 pixels
Default: 1
When set to “0”, or when left unspecified, this value will be set to “1”.

RobotSpeed

Integer variable displaying the speed of the robot (%)

Value range: 0 to 100
Default: 5
When set to “0”, or when left unspecified, this value will be set to “5”.

RobotAccel

Integer variable displaying the acceleration of the robot (%)

Value range: 0 to 99
Default: 5
When set to “0”, or when left unspecified, this value will be set to “5”.

ShowWarning

Integer variable that determines whether to display warning when ArmSetMode is Fine.

• 0 - Always display
• 1 - Display when RobotSpeed and RobotAccel are larger than the default value
• -1 - Do not display

If omitted, “1 – Display when RobotSpeed and RobotAccel are larger than the default value” is set.

Remarks
VDefArm calculates an arm set value of the mobile J2 camera using a feature point detectable by the vision system.

Set a horizontal distance from J2 to the center of orientation and offset angle of J2. Default value is set to other parameters.

KEY POINTS

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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 arm set.

See Also
VDefGetMotionRange Statement, VDefLocal Statement, VDefSetMotionRange Statement, VDefTool Statement VGoCenter Statement