VGoCenter Statement

Applies To
Vision Calibration

Description
Using a feature point, VGoCenter moves the robot so that the feature point can be captured at the center of the camera image.

Usage

VGoCenter  Sequence, [LocalNo],[TargetTolerance],[RobotSpeed],[RobotAccel]

Sequence

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

LocalNo

Integer variable representing a local coordinate number for moving the robot (-1 to 15, Default: -1)

Tool is moved in the XY plane of the specified local coordinate.
If omitted, or set to -1, the robot will move on the XY plane of the tool orientation when a command is invoked.

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”.

Remarks
Using a feature point, VGoCenter moves the robot so that the feature point can be captured at the center of the camera image.

See Also
VCal