ABB Robotics PickMaster Twin - PowerPac Anwendungshandbuch Seite 202

4 Arbeiten mit PickMaster PowerPac
4.4.3 Externen Sensor konfigurieren
Fortsetzung
Argument
callBackFunc
Fortsetzung auf nächster Seite
202
Beschreibung
Enthalten sind GetStrobeTime()
und NewPosition(pos)
Anwendungshandbuch - PickMaster® Twin - PowerPac
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Hinweis
Das Positionsformat sollte dieser
Struktur folgen:
newPos = {'SensorId :
sensorId, # sensor id
'Time : strobeTime, # time
stamp, get from PMTW by
calling GetStrobeTime()
callback function, unit is
ms.
'key : {'X': 0.0, # key
refers to the position
index, start from 0. X
refers to the location value
of the item in X direction,
unit is mm.
'Y': 100.0, # Y refers to
the location value of the
item in Y direction, unit is
mm
'Z': 5.0, # Z refers to the
location value of the item
in Z direction, unit is mm
'RX': 0.0, # RX refers to
the rotation angle value of
the item in X direction,
unit is degree
'RY': 0.0, # RY refers to
the rotation angle value of
the item in Y direction,
unit is degree
'RZ': 0.0, # RZ refers to
the rotation angle value of
the item in Z direction,
unit is degree
'Tag': 0, # used in rapid
'Score': 1.0, # refers to
the score of different
position generator methods,
could be used to sort the
results
'Val1': 0.0, # optional
value, used in rapid
'Val2': 0.0, # optional
value, used in rapid
'Val3': 0.0, # optional
value, used in rapid
'Val4': 0.0, # optional
value, used in rapid
'Val5': 0.0, # optional
value, used in rapid
'Level': 2, # level, 0:
Discarded, 1: Rejected, 2:
Accepted
'PosGenId': posGenId}, #
external sensor position
generator id
3HAC080435-003 Revision: F