VDefTool Statement

Applies To
Vision Calibration

Description
VDefTool uses vision detection to calculate a tool offset value for TCP and mobile camera position.

Usage

VDefTool  ToolNumber, ToolDefType, Sequence, [FinalAngle],[InitialAngle],[TargetTolerance],[RobotSpeed],[RobotAccel]

If ToolDefType is VISION_DEFTOOL_FIXEDWITHCAL, this usage is not available. Please use the following usages.

VDefTool  ToolNumber, VISION_DEFTOOL_FIXEDWITHCAL, Sequence.Object, [FinalAngle],[InitialAngle],[TargetTolerance],[RobotSpeed],[RobotAccel]

ToolNumber

Integer variable representing a tool number to perform tool set. (1 to 15)

ToolDefType

Integer variable representing a tool type

.

VISION_DEFTOOL_FIXEDNOCAL: Tool set by using the fixed camera which is not calibrated. VISION_DEFTOOL_J4CAM: Calculates image center of the mobile J4 camera. VISION_DEFTOOL_J6CAM: Calculates image center of the mobile J6 camera. VISION_DEFTOOL_FIXEDWITHCAL: Sets tools using a calibrated upward camera.

Sequence

Name of a sequence or string expression containing a sequence name.

FinalAngle

Real variable containing an angle (degrees) to rotate the tool or camera tool.

Value range: 5 to 180, -5 to -180 [degrees]
Default: 90
When specifying positive value, rotate to +U-axis direction of the tool coordinate system. When specifying negative value, rotate to -U-axis direction of the tool coordinate system.
If omitted or “0” is specified, it is set to “90”.

InitialAngle

Real variable containing an angle (degrees) to rotate the tool or camera tool in provisional tool setting.

Value range: -10 to 10 [degrees]
Default: 5
When specifying positive value, rotate to +U-axis direction of the tool coordinate system. When specifying negative value, rotate to -U-axis direction of the tool coordinate system.
If omitted or “0” is specified, it is set to “5”.
Absolute value of this value must be smaller than that of FinalAngle.

TargetTolerance

Real variable containing a pixel distance to consider that the vision detection result matches the target position.

Value range: 0, 0.1 to 3.0 pixels
Default: 1
If omitted or “0” is specified, it is 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”.

Object

Name of an object or string expression containing the object name

Remarks
VDefTool uses vision detection to calculate a tool offset value for TCP and mobile camera position.

If the tool type is the fixed camera, X and Y are set as tool offset of TCP. At this time, 0 is set for Z, U, V, and W. If the tool type is mobile J4 camera and J6 camera, X, Y, and U are set as tool offset for installation position of the mobile camera. At this time, 0 is set for Z, V, and W.

Note:
When the tool type is other than VISION_DEFTOOL_FIXEDWITHCAL, the 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 tool set.

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