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<nobr><A HREF="Default.htm" TARGET="" STYLE="{text-decoration: none;}">Up</A></nobr> | <nobr><A HREF="Setup.htm" TARGET="" STYLE="{text-decoration: none;}">Setup</A></nobr> | <nobr><A HREF="MotoCom%20Requirements.htm" TARGET="" STYLE="{text-decoration: none;}">Motocom Requirements</A></nobr> | <nobr><A HREF="Methods.htm" TARGET="" STYLE="{text-decoration: none;}">Methods</A></nobr> | <nobr><A HREF="Events.htm" TARGET="" STYLE="{text-decoration: none;}">Events</A></nobr> | <nobr><A HREF="Example1.htm" TARGET="" STYLE="{text-decoration: none;}">Example 1</A></nobr> | <nobr>Example 2</nobr> | <nobr><A HREF="Example3.htm" TARGET="" STYLE="{text-decoration: none;}">Example 3</A></nobr> | <nobr><A HREF="ReleaseNotes.htm" TARGET="" STYLE="{text-decoration: none;}">Release Notes</A></nobr></font>
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<font face="Arial"><strong>
Example 2</strong></font></td>
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Example 2, trigger example with additional robot information<p>This
example is as Example 1 with one exception - two values are transfered to
Scorpion before CameraTrigger.</p>
<p>MOTOMAN program:</p>
<p><font face="Courier New">0022 ...<br>
0023 ...<br>
0024 SET B014 1 'set register B014 to 1 to signal robot in position<br>
0025 SET I017 12 'set register I017 to 12 as robot
height<br>
0026 SET D024 16.23 'set register D024 to 16.23 as robot delta<br>
0027 SAVEV B014 'notify Scorpion robot in position <br>
0028 SAVEV I017 'transfer robot height<br>
0029 SAVEV D024 'transfer robot delta<br>
0030 LOADV B015 'wait for Scorpion inspection result<br>
0031 LOADV P005 'wait for Scorpion position results <br>
0032 ...<br>
0033 ...</font></p>
<p>
<b>Motoman_Trigger script</b></p>
<p>
def Handle_MOTOMAN_Trigger(value):<br>
<br>
<br>
#this is called from robot by instuction SAVEV BXXX<br>
print 'Handle_MOTOMAN_Trigger',value</p>
<p>
h=ExtractResult(MOTOMAN.GetInt('varno=17')) # reads height
value<br>
print 'Robot Height ',d<br>
SetValue('Height.Value',h) # set value to Height tool in Toolbox</p>
<p>
d=ExtractResult(MOTOMAN.GetDouble('varno=24'))<br>
print 'Robot Delta ',d<br>
SetValue('Delta.Value',d)<br>
<br>
#capture image<br>
print 'CameraTrigger',ExecuteCmd('CameraTrigger','')</p>
<p>
</p>
<p>
# this function extracts the value from the Getxxx methods<br>
def ExtractResult(str):<br>
import string<br>
<br>
res=0<br>
t0=string.split(str,';')<br>
n=len(t0)<br>
if n>0:<br>
t1=string.split(t0[n-1],'=')<br>
n=len(t1)<br>
if n==2:<br>
res=int(t1[1])<br>
return res</p>
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<font face="Verdana" size="1">Scorpion Vision
Version<span lang="no-bok"> XII </span>:
<span lang="no-bok">Build 646</span> - Date: 201<span lang="no-bok">70225<br>
</span>Scorpion Vision Software� is a registered
trademark of Tordivel AS. <br>
Copyright � 2000 - 2017 Tordivel AS. </font>
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