6.2. 자동 교정 JOB 파일

6.2. 자동 교정 JOB 파일

 

4장에서 설명한 자동 교정 JOB 파일 예제의 전체 파일입니다. 동작 설명은 4장을 참조하시기 바랍니다.

 

Program File Format Version : 1.6  MechType: 127(HA020-03)  TotalAxis: 6  AuxAxis: 0

     '_Pick-it Auto Calibration

     '_Pick-it Mode

     DIM liStatusErr AS Integer

     DIM liRunMode AS Integer

     DIM liIdleMode AS Integer

     DIM liCalibMode AS Integer

     '_Pick-it Status

     DIM liFCPOK AS Integer

     DIM liFCPFail AS Integer

     DIM liObjFound AS Integer

     DIM liNoObj AS Integer

     DIM liNoImgCap AS Integer

     DIM liCFGOK AS Integer

     DIM liCFGFail AS Integer

     DIM liSVSOK AS Integer

     DIM liSVSFail AS Integer

     '_Pick-it Type

     DIM liSquare AS Integer

     DIM liRectangle AS Integer

     DIM liCircle AS Integer

     DIM liEllipse AS Integer

     DIM liCylinder AS Integer

     DIM liSphere AS Integer

     DIM liPointCloud AS Integer

     DIM liBlob AS Integer

     '_

     liStatusErr=-1

     liRunMode=0

     liIdleMode=1

     liCalibMode=2

     '_

     liFCPOK=10

     liFCPFail=11

     liObjFound=20

     liNoObj=21

     liNoImgCap=21

     liCFGOK=40

     liCFGFail=41

     liSVSOK=50

     liSVSFail=51

     '_

     liSquare=21

     liRectangle=22

     liCircle=23

     liEllipse=24

     liCylinder=32

     liSphere=33

     liPointCloud=35

     liBlob=50

     '_

     ENET1.IP="192.168.1.11"

     ENET1.RPORT=5001

     ENET1.LPORT=5001

     ENET1.OPEN 1

     CLR_RBUF ENET1

     DELAY 1

     '_

     '_

     PICKIT.ITF ENET1,CNX=0,WAIT=10 '반응대기시간 10초 설정

     V1%=1 '포즈 지정 변수

     '_

   1 PICKIT.CHK

     IF PICKIT.STATUS=liCalibMode THEN 3 ELSE 99

   3 DELAY 0.5

S1   MOVE P,P[V1%],S=60%,A=3,T=0

     PICKIT.FCP

     IF PICKIT.STATUS=liStatusErr THEN 99 ELSE 7

   7 IF PICKIT.STATUS=liFCPOK THEN

     V1%=V1%+1

     ELSEIF PICKIT.STATUS=liFCPFail THEN

     V1%=V1%

     ENDIF

     IF V1%>5 THEN 99 ELSE 3

  99 END