Adept AdeptSight Reference Guide Bedienungsanleitung PDF herunterladen (Seite 22)

100

101

Property Name Code

ModelBasedScaleFactorMode 220

ModelBasedMinimumScaleFactor 221

ModelBasedMaximumScaleFactor 222

ModelBasedRotationMode 223

ModelBasedMinimumRotation 224

ModelBasedMaximumRotation 225

ModelEnabled 405

FrameTranslationX (2400), FrameTranslationY (2401), and FrameRotation (2402) should be

replaced with the InstanceTranslationX (1315), InstanceTranslationY (1316), and

InstanceRotation (1314). The Instance parameter has been expanded to support all tools.

5. Table-mounted camera refinement has changed. In AdeptSight 2.x, a table-mounted camera is

treated as a special case, and the results are used to directly offset a target position for placement.

In AdeptSight 3.x, the table-mounted camera is not treated as a special case. If you use a table-

mounted camera, command code 1311 returns the world location of the located vision object.

In addition, the instruction InstanceToolOffset (command code 1372) has been added to return

the location of the vision object relative to the gripper tip at the time the picture was taken. For

details, see InstanceToolOffset.

6. Additional properties and corresponding command codes have been added to enable the reading of

a robot gripper IO:

Property Name Code

GripperOutputOpen 5511

GripperOutputClose 5512

GripperOutputRelease 5513

GripperInputOpen 5514

GripperInputClose 5515

GripperOutputExtend 5516

GripperOutputRetract 5517

GripperInputExtend 5518

GripperInputRetract 5519

NOTE: In version 3.1, the parameters for these were modified to the following:

RecentChanges

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

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