Banner PresencePLUS P4 Series - Manual (Page 77)

;
; Obtain the X, Y, and Rz offset data
;
; Send command to camera to acquire the Communication Tool
; result data
.$cmd_str = "GET COORDTOOL"+$cmd_del
CALL tcp_send(.ret_val,.$cmd_str)
IF .ret_val < 0 GOTO tcp_error
; Read command response from camera
.$rcv_str = ""
CALL tcp_recv(.ret_val, .$rcv_str)
IF .ret_val < 0 GOTO tcp_error
; Decode command response
.$rsp_str = $DECODE(.$rcv_str, $cmd_del, 0)
.ret_val = VAL(.$rsp_str)
IF .ret_val < 0 GOTO cmd_error ; Get Commtool failed
$temp = $DECODE(.$rcv_str, $cmd_del, 1) ; Remove frame delimiter
; Decode the X offset data
.$rsp_str = $DECODE(.$rcv_str, $coord_del, 0)
X_offset = VAL(.$rsp_str)
$temp = $DECODE(.$rcv_str, $coord_del, 1) ; Remove field delimiter
; Decode the Y offset data
.$rsp_str = $DECODE(.$rcv_str, $coord_del, 0)
Y_offset = VAL(.$rsp_str)
$temp = $DECODE(.$rcv_str, $coord_del, 1) ; Remove field delimiter
;Decode the Rz offset data -- rotation about the Z axis
.$rsp_str = $DECODE(.$rcv_str, $coord_del, 0)
O_offset = VAL(.$rsp_str)
$temp = $DECODE(.$rcv_str, $coord_del, 1) ; Remove field delimiter
;
; Handle new coordinate offsets
;
PRINT X_offset, Y_offset, Rz_offset
POINT pick = frame1+TRANS(X_offset, Y_offset, ,Rz_offset)
HOME
LAPPRO pick,100
LMOVE pick
CLAMP 1
LDEPART 100
HOME
; Part not found error
notfnd_error:
PRINT "The part was not found"
GOTO all_done
77 Banner Engineering Corp. - Minneapolis, MN USA - www.bannerengineering.com
Tel: 763.544.3164
P/N 000000
System Setup Window Overview 7/2009