Adept AdeptSight Reference Guide - Manual (Page 269)

InstanceLocation
VLOCATION
1311
Returns the location of the selected instance, in the frame of reference of the specified robot. If a gripper
offset has been assigned to the instance, it is automatically applied to the location. If no robot-to-vision
calibration has been carried out, InstanceLocation returns the location in the Vision frame of reference.
Read only.
Syntax
MicroV+
value = VLOCATION (sequence_id, tool_id, instance_id, 1311, index_id, frame_id)
V+
value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 1311, index_id, frame_id)
Remarks
If there is a single gripper offset, InstanceLocation (1311) is the same as
InstanceLocationGripperOffsetMinimum (1400). If there are multiple gripper offsets that can be
applied to the instance you should use InstanceLocationGripperOffsetMinimum = 1400 for the location
with the first gripper offset, InstanceLocationGripperOffsetMinimum = 1401 for the location with the
second gripper offset, and so forth for additional gripper offsets.
Parameters
$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP
address format, for example: 192.168.1.120.
sequence_id Index of the vision sequence. The first sequence is 1.
tool_id Index of the tool in the vision sequence. The first tool is 1.
instance_id Index of the instance for which the location is required.
ID 1311: the value used to reference this property.
index_id Index of the robot.
frame_id Index of the frame in which the instance is found. Typically this is '0' (i.e. the
Locator is not frame-based).
InstanceLocation
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
Page 269