Omron ACE Sight Reference guide

Omron
Brand
Omron
Model
ACE Sight
Category
Software
Type
Reference guide
I9-E-01
$CE Sight
Reference*XLGH
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duced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information
herein is subject to change without notice and should not be construed as a commitment by Omron Adept
Technologies, Inc. The documentation is periodically reviewed and revised.
Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc-
umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in
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Copyright ï›™2006 - 2016 by Omron Adept Technologies, Inc. All rights reserved.
Created in the United States of America
ACE Reference Guide, 18317-000 Rev A
Table Of Contents
ACESight V+ and MicroV+ Keywords 35
VLOCATION transformation function 36
VPARAMETER program instruction 39
VPARAMETER real-valued function 41
VRESULT real-valued function 43
VRUN program instruction 45
VSTATE real-valued function 46
VTIMEOUT system parameter 48
VWAITI program instruction 49
ACESight Properties Reference for V+ and MicroV+ 51
Abort 53
ActiveCalibration 54
ActiveSettings 55
AnyFeederVRunCommand 56
AnyFeederDispenseIterations 58
AnyFeederFeedBackwardIterations 59
AnyFeederFeedBackwardSpeed 60
AnyFeederFeedFlipBackwardIterations 61
AnyFeederFeedFlipBackwardSpeed 62
AnyFeederFeedFlipForwardIterations 63
AnyFeederFeedFlipForwardSpeed 64
AnyFeederFeedForwardIterations 65
AnyFeederFeedForwardSpeed 66
AnyFeederFlipIterations 67
AnyFeederFlipSpeed 68
AnyFeederHeavyDispenseIterations 69
AnyFeederHeavyDispenseSpeed 70
AnyFeederHeavyDispenseSpeed 71
AnyFeederPurgeSpeed 72
ArcMustBeTotallyEnclosed 73
ArithmeticClippingMode 75
ArithmeticConstant 77
ArithmeticScale 78
AssignmentConstant 79
AssignmentHeight 80
AssignmentWidth 81
AutoCoarsenessSelectionEnabled 82
AutomaticCandidateCountEnabled 84
AverageContrast 86
BeltCalibrationDownstreamLimit 87
BeltCalibrationFrame 88
BeltCalibrationNearsideLimit 88
BeltCalibrationScale 90
BeltCalibrationUpstreamLimit 91
BeltLatchCalibrationOffset 91
BilinearInterpolationEnabled 93
BlobArea 95
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ACE Reference Guide, 18317-000 Rev A
Page 3
BlobBoundingBoxBottom 96
BlobBoundingBoxCenterX 97
BlobBoundingBoxCenterY 98
BlobBoundingBoxHeight 99
BlobBoundingBoxLeft 100
BlobBoundingBoxRight 101
BlobBoundingBoxRotation 102
BlobBoundingBoxTop 103
BlobBoundingBoxWidth 104
BlobChainCode 105
BlobChainCodeDeltaX 107
BlobChainCodeDeltaY 108
BlobChainCodeLength 109
BlobChainCodeStartX 110
BlobChainCodeStartY 111
BlobConvexPerimeter 112
BlobCount 113
BlobElongation 114
BlobExtentBottom 115
BlobExtentLeft 116
BlobExtentRight 117
BlobExtentTop 118
BlobGreyLevelMaximum 119
BlobGreyLevelMean 120
BlobGreyLevelMinimum 121
BlobGreyLevelRange 122
BlobGreyLevelStdDev 123
BlobHoleCount 124
BlobInertiaMaximum 125
BlobInertiaMinimum 126
BlobInertiaXAxis 127
BlobInertiaYAxis 128
BlobIntrinsicBoundingBoxBottom 129
BlobIntrinsicBoundingBoxCenterX 130
BlobIntrinsicBoundingBoxCenterY 131
BlobIntrinsicBoundingBoxHeight 132
BlobIntrinsicBoundingBoxLeft 133
BlobIntrinsicBoundingBoxRight 134
BlobIntrinsicBoundingBoxRotation 135
BlobIntrinsicBoundingBoxTop 136
BlobIntrinsicBoundingBoxWidth 137
BlobIntrinsicExtentBottom 138
BlobIntrinsicExtentLeft 139
BlobIntrinsicExtentRight 140
BlobIntrinsicExtentTop 141
BlobPositionX 142
BlobPositionY 143
BlobPrincipalAxesRotation 144
BlobRawPerimeter 145
BlobRoundness 146
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 4
CalibratedUnitsEnabled 148
CandidatePointsCount 149
ChainCodeResultsEnabled 151
ColorFilterCount 153
ColorFilterMatchPixelCount 154
ColorFilterMatchQuality 155
CommunicationToolResults 156
ConformityTolerance 157
ConformityToleranceRangeEnabled 159
Connectivity 161
Constraints 162
ContrastPolarity 164
ContrastThreshold 166
ContrastThresholdMode 168
DefaultConformityTolerance 170
DetailLevel 172
Edge1Constraints 174
Edge1Magnitude 176
Edge1MagnitudeConstraint 177
Edge1MagnitudeScore 178
Edge1PolarityMode 179
Edge1PositionConstraint 181
Edge1PositionScore 182
Edge1PositionX 183
Edge1PositionY 184
Edge1Radius 185
Edge1Rotation 186
Edge1Score 188
Edge1ScoreThreshold 190
Edge2Constraints 191
Edge2Magnitude 193
Edge2MagnitudeConstraint 194
Edge2MagnitudeScore 195
Edge2PolarityMode 196
Edge2PositionConstraint 198
Edge2PositionScore 199
Edge2PositionX 200
Edge2PositionY 201
Edge2Radius 202
Edge2Rotation 203
Edge2Score 205
Edge2ScoreThreshold 207
EdgeCount 208
EdgeFilterHalfWidth 209
EdgeMagnitude 210
EdgeMagnitudeScore 211
EdgeMagnitudeThreshold 212
EdgePolarityMode 213
EdgePositionScore 215
EdgePositionX 216
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ACE Reference Guide, 18317-000 Rev A
Page 5
EdgePositionY 217
EdgeRadius 218
EdgeRotation 219
EdgeScore 220
EdgeSortResultsEnabled 221
ElapsedTime 222
ExtrinsicInertiaResultsEnabled 224
FilterCount 226
FilterHalfWidth 227
FilterHueTolerance 228
FilterHueValue 230
FilteringClippingMode 232
FilteringKernelSize 234
FilteringScale 235
FilterLuminanceTolerance 236
FilterLuminanceValue 238
FilterSaturationTolerance 240
FilterSaturationValue 242
FitMode 244
FitQuality 246
FlexibowlFeederVRunCommand 247
FlexibowlFeederBlowTime 249
FlexibowlFeederFlipCount 250
FlexibowlFeederFlipDelay 251
FlexibowlFeederForwardAcceleration 252
FlexibowlFeederForwardAngle 253
FlexibowlFeederForwardDeceleration 254
FlexibowlFeederForwardSpeed 255
FlexibowlFeederShakeAcceleration 256
FlexibowlFeederShakeAngle 257
FlexibowlFeederShakeCount 258
FlexibowlFeederShakeDeceleration 259
FlexibowlFeederShakeSpeed 260
Found 261
FrameCount 262
FrameIntrinsicBoundingBox 264
FrameRotation 266
FrameTranslationX 267
FrameTranslationY 268
GreylevelRange 269
GreyLevelResultsEnabled 270
GripperInputClose 272
GripperInputExtend 273
GripperInputOpen 274
GripperInputRetract 275
GripperOffset 276
GripperOutputClose 277
GripperOutputExtend 278
GripperOutputOpen 279
GripperOutputRelease 280
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ACE Reference Guide, 18317-000 Rev A
Page 6
GripperOutputRetract 281
GripperPayload 282
GripperToolTransform 283
Histogram 284
HistogramPixelCount 285
HistogramThreshold 286
HoleFillingEnabled 287
ImageHeight 288
ImageOriginBelt 289
ImageOriginRobot 291
ImagePixelCount 293
ImageSubsampling 294
ImageWidth 296
InspectionFilterMeasuredValue 297
InspectionFilterPassStatus 297
InstanceClearQuality 299
InstanceCount 301
InstanceFitQuality 303
InstanceIntrinsicBoundingBox 305
InstanceLocation 307
InstanceLocationGripperOffsetMaximum 309
InstanceLocationGripperOffsetMinimum 311
InstanceMatchQuality 313
InstanceModel 315
InstanceOrdering 317
InstanceOrderingReferenceX 319
InstanceOrderingReferenceY 320
InstanceRobotLocation 321
InstanceRotation 323
InstanceScaleFactor 324
InstanceSymmetry 326
InstanceTime 328
InstanceToolOffset 330
InstanceTranslationX 332
InstanceTranslationY 333
InstanceVisible 334
InstanceVisionOffset 336
InterpolatePositionMode 338
InterpolatePositionModeEnabled 339
IntrinsicBoxResultsEnabled 341
InverseKinematics 343
KernelSize 346
LastOperation 347
LastOutputType 350
LogicalConstant 352
MagnitudeConstraint 353
MagnitudeThreshold 355
MatchCount 356
MatchPositionX 357
MatchPositionY 358
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 7
MatchQuality 359
MatchRotation 360
MatchStrength 361
MatchThreshold 362
MaximumAngleDeviation 364
MaximumBlobArea 366
MaximumGreylevelValue 367
MaximumInstanceCount 368
MaximumInstanceCountEnabled 370
MaximumRotation 371
MaximumScaleFactor 372
Mean 373
MeasurementPointsCount 374
Median 375
MinimumArcPercentage 376
MinimumBlobArea 377
MinimumClearPercentage 378
MinimumClearPercentageEnabled 379
MinimumGreylevelValue 380
MinimumLinePercentage 381
MinimumModelPercentage 382
MinimumRequiredFeatures 383
MinimumRotation 385
MinimumScaleFactor 386
Mode 387
ModelDisambiguationEnabled 388
ModePixelCount 390
MorphologicalNeighborhoodSize 391
NominalRotation 392
NominalRotationEnabled 393
NominalScaleFactor 395
NominalScaleFactorEnabled 396
Operation 398
Operator 402
OutlineLevel 404
OutputArcAngle 405
OutputArcCenterPointX 406
OutputArcCenterPointY 407
OutputArcRadius 408
OutputLineAngle 409
OutputLineEndPointX 410
OutputLineEndPointY 411
OutputLineStartPointX 412
OutputLineStartPointY 413
OutputLineVectorPointX 414
OutputLineVectorPointY 415
OutputPointX 416
OutputPointY 417
OutputSymmetricInstances 418
OverrideType 420
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ACE Reference Guide, 18317-000 Rev A
Page 8
OverrideTypeEnabled 422
PairCount 423
PairPositionX 425
PairPositionY 427
PairRotation 428
PairScore 429
PairSize 430
ParametersBasedOn 431
PatternHeight 433
PatternPositionX 435
PatternPositionY 437
PatternRotation 438
PatternWidth 440
PerimeterResultsEnabled 442
PolarityMode 444
PositionConstraint 446
PositioningLevel 447
ProjectionMode 448
RecipeManagerActiveRecipe 450
RecipeManagerRecipeCount 451
RecipeManagerRecipeSelection 452
RecipeManagerRecipeDelete 453
RecipeManagerLoadFile 454
RecipeManagerSaveFile 455
RecognitionLevel 456
Reset 457
ResultCount 458
RobotXPosition 459
RobotYPosition 461
SamplingStepCustom 463
SamplingStepCustomEnabled 465
SaveImage 467
ScoreThreshold 468
SearchBasedOnOutlineLevelOnly 469
SearchCoarseness 471
SearchMode 472
SegmentationDark 474
SegmentationDynamicDark 476
SegmentationDynamicInside 478
SegmentationDynamicLight 480
SegmentationDynamicOutside 482
SegmentationInside 484
SegmentationLight 486
SegmentationMode 488
SegmentationOutside 490
SequenceExecutionMode 492
SequenceToolCount 494
Sharpness 495
SharpnessPeak 496
ShowResultsGraphics 497
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 9
SortBlobsBy 499
SortResultsEnabled 502
StandardDeviation 503
StandardDeviationThreshold 504
SubsamplingLevel 505
TailBlack 506
TailBlackGreylevelValue 507
TailWhite 508
TailWhiteGreylevelValue 509
ThresholdBlack 510
ThresholdWhite 511
Timeout 512
TimeoutEnabled 514
ToolGuidelineOffset 515
ToolHeight 516
ToolOpening 517
ToolPositionX 519
ToolPositionY 521
ToolRadius 522
ToolRotation 524
ToolSkew 526
ToolThickness 528
ToolWidth 530
TopologicalResultsEnabled 532
TransformFlags 533
UseDefaultConformityTolerance 535
Variance 537
VideoExposure 538
VideoGain 539
VisionOriginBelt 540
VisionOriginRobot 542
VisionRotation 544
VisionXPosition 546
VisionYPosition 548
ACESight Properties Quick Reference 550
ACESight Framework Properties 574
ACESight Tool Properties 576
AnyFeeder Properties 578
Arc Caliper Properties 579
Arc Edge Locator Properties 581
Arc Finder Properties 583
Blob Analyzer Properties 585
Calculated Arc Properties 589
Calculated Frame Properties 590
Calculated Line Properties 591
Calculated Point Properties 592
Calibration Grid Locator Properties 593
Caliper Properties 594
Color Matching Tool Properties 596
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 10
Communication Tool Properties 597
Custom Vision Tool Properties 598
Edge Locator Properties 599
FlexibowlFeeder Properties 601
Gripper Clearance Tool Properties 602
Image Histogram Tool Properties 603
Image Processing Tool Properties 605
Image Sampling Tool Properties 606
Image Sharpness Tool Properties 607
Inspection Tool Properties 608
Line Finder Properties 609
Locator Tool Properties 611
Overlap Tool Properties 614
Pattern Locator Properties 615
Point Finder Properties 617
Recipe Manager Properties 619
Remote Vision Tool Properties 620
Virtual Camera Tool Properties 622
Customizer Reference Guide 623
PCCustomization 623
Overview 623
ACE Core Library 624
ACE Vision Library 624
ACE Adept Library 624
ACE Sight Module 624
ACE PackXpert Module 624
Client andServer Side Plugins 625
Visual StudioSolution 625
Application Domains 625
Crossing the Application Domain Boundaries 625
Remoting, Object Scope, and Serialization 626
Server Side Plug-Ins 627
Data Collection Sample 627
Default C# Program 627
Referencing other objects and tools 628
Data Collection Overview 628
Step 1: Acquire a handle to a robot 628
Step 2: Identify the data to be collected 629
Step 3: Collect the data 629
Step 4: Extract the data 630
Step 5: Save the data to a file 630
Output Data File 631
Vision Tool Customization 632
Default Custom Vision Tool 632
Referencing other objects and tools 633
Complete Example 634
ProcessManager Customization Overview 636
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 11
637
Process Strategy Customization 637
Controller Customizations 637
638
Robot Customizations 638
Robot: General 638
Robot: Allocation 638
Robot: Wait Mode 639
Robot: Error Responses 640
640
Control Sources: Belt Monitoring 640
641
Motion Settings: Pick and Place 641
642
Motion Settings: Refinement 642
Advanced Debugging Techniques 644
Process Manager Runtime Control 644
Event Log Display 647
Triggering Additional V+ Logging 649
Vision Results Logging 650
Virtual Camera Image Logging 650
Diagnostic Summary Display 650
V+ Profiler Display 651
System Monitor Display 652
Belt Control I/O 653
Belt Control Settings 654
Belt Control: Defining a Custom Belt Program 657
Belt Control: Default Belt Program Behavior 658
Iterate Through the Belts 658
Evaluate Type of Belt Control 658
Run Check: Turn Belt Off 659
Belt Monitoring 660
Belt Monitoring 660
Initialization 661
Monitor Encoder Motion 661
Monitor Spacing Points 662
Monitor Hardware Latches 663
Monitor Camera Points 665
Conceptual Overview 667
Top Down Approach: An Application Framework 667
Hardware Sources: Provide Instances 669
Controller Queue: Process Instances 670
Process Manager Runtime Control: Hardware Display 670
Process Strategy: Data Models 672
673
Custom Allocation Scripts 674
Creating an AllocationScript 674
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 12
Default Allocation Script 675
Default Allocation Script: Initialize Method 675
Default Allocation Script: AllocateNonBeltInstances 676
Default Allocation Script: AllocateBeltInstances 676
Default Allocation Script: NotifyInstancesProcessed 677
Default Allocation Script: LocatedInstance 678
Default Allocation Script: LocatedInstance and the Tag property 679
Custom Error Programs 681
Error Display 681
V+ Error Customization 683
Custom IO Feeder Programs 685
Customizing The Feeding Sequence 685
Customizing System Initialization 690
Custom Initialization Program 691
Custom Pick and Place Motion Programs 692
Customizing The Motion Sequence 692
Custom Process Strategy Monitoring Programs 697
Variable Initialization 698
Control Loop 699
Custom Refinement Motion Programs 699
Customizing The Refinement Sequence 700
Custom Robot Error Response Programs 701
Customizing The Error Response Program 702
Custom Robot Process Selection Program 703
Custom Robot Program: Overview 707
Specification of Processes 708
Accessing Queues 709
Custom Robot Wait Programs 710
Customizing Stop Behavior 713
Custom Stop Program 714
Part and Target Queues 715
Belt Instance Filtering 715
Instance Allocation 716
Representation on Controller 717
Rotary Buffer 717
V+ API Calls 718
Recipe Management 719
Calibration Sharing 719
Separation of motion parameters 720
C# Scripting 721
V+Module Documentation 722
V+AceServer Module Documentation 724
sv.create_msg(msg_num, handle, ptr) 724
Abstract 724
Input Parameters 724
Output Parameters 724
sv.read_adouble(handle, ptr, offset, value[], n_items) 724
Abstract 724
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 13
Input Parameters 724
Output Parameters 724
sv.read_ashort(handle, ptr, offset, value[], n_items) 724
Abstract 724
Input Parameters 725
Output Parameters 725
sv.read_asingle(handle, ptr, offset, value[], n_items) 725
Abstract 725
Input Parameters 725
Output Parameters 725
sv.read_astring(handle, ptr, offset, $value[], n_items) 725
Abstract 725
Input Parameters 725
Output Parameters 726
sv.read_bool(handle, ptr, value) 726
Abstract 726
Input Parameters 726
Output Parameters 726
Example 726
sv.read_byte(handle, ptr, value) 727
Abstract 727
Input Parameters 727
Output Parameters 727
Example 727
sv.read_byte(handle, ptr, value) 728
Abstract 728
Input Parameters 728
Output Parameters 728
Example 728
sv.read_double(handle, ptr, value) 729
Abstract 729
Input Parameters 729
Output Parameters 729
Example 729
sv.read_short(handle, ptr, value) 730
Abstract 730
Input Parameters 730
Output Parameters 730
Example 730
sv.read_single(handle, ptr, value) 731
Abstract 731
Input Parameters 731
Output Parameters 731
Example 731
sv.read_string(handle, ptr, $string) 732
Abstract 732
Input Parameters 732
Output Parameters 732
Example 732
sv.read_trans(handle, ptr, trans) 733
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 14
Abstract 733
Input Parameters 733
Output Parameters 733
Example 733
sv.stop_collect(robot.num) 734
Abstract 734
Input Parameters 734
Output Parameters 734
sv.sig.is.equal(sig.num, expected.val, is.equal.res) 734
Abstract 734
Input Parameters 734
Output Parameters 734
Example 735
sv.write(handle, ptr) 735
Abstract 735
Input Parameters 735
Output Parameters 735
sv.write_abyte($string[], offset, count, handle, ptr) 735
Abstract 735
Input Parameters 735
Output Parameters 736
sv.write_adoubl(first_index, value[], n_items, handle, ptr) 736
Abstract 736
Input Parameters 736
Output Parameters 736
sv.write_ashort(first_index, value[], n_items, handle, ptr) 736
Abstract 736
Input Parameters 736
Output Parameters 737
sv.write_asingl(first_index, value[], n_items, handle, ptr) 737
Abstract 737
Input Parameters 737
Output Parameters 737
sv.write_astrin(first_index, $value[], n_items, handle, ptr) 737
Abstract 737
Input Parameters 737
Output Parameters 738
sv.write_bool(value, handle, ptr) 738
Abstract 738
Input Parameters 738
Output Parameters 738
Example 738
sv.write_byte(value, handle, ptr) 739
Abstract 739
Input Parameters 739
Output Parameters 739
Example 739
sv.write_short(value, handle, ptr) 740
Abstract 740
Input Parameters 740
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 15
Output Parameters 740
Example 740
sv.write_hdr(handle, ptr) 741
Abstract 741
Input Parameters 741
Output Parameters 741
sv.write_single(value, handle, ptr) 741
Abstract 741
Input Parameters 741
Output Parameters 741
Example 741
sv.write_string($string, handle, ptr) 742
Abstract 742
Input Parameters 742
Output Parameters 742
Example 742
sv.write_trans(trans, handle, ptr) 743
Abstract 743
Input Parameters 743
Output Parameters 743
Example 743
V+ACE Sight Module Documentation 746
as.save.image($filename, $ip, seq.idx, tool.idx, status) 746
Abstract 746
Input Parameters 746
Output Parameters 746
check_tracking(tracking_ok) 746
Abstract 746
Input Parameters 746
Output Parameters 746
746
clear_queue(queue_index) 746
Abstract 746
Input Parameters 747
Output Parameters 747
747
getinstance(queue_index, flags, location, model, encoder, visionx, visiony, visionrot) 747
Abstract 747
Input Parameters 747
Output Parameters 747
reset_seq($myip, seq_id) 748
Abstract 748
Input Parameters 748
Output Parameters 748
set_as_exec_mod($myip, seq_id, mode) 748
Abstract 748
Input Parameters 748
Output Parameters 748
V+End-Effector Program Documentation 750
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 16
End-Effector Library Error Codes 750
ee.chk.er(ee.idx, tip.idx, state, sts) 750
Abstract 750
Input Parameters 750
Output Parameters 750
ee.chk.oc(tsk.idx, tip.idx, state, sts) 750
Abstract 750
Input Parameters 751
Output Parameters 751
ee.clroff(ee.idx, sts) 751
Abstract 751
Input Parameters 751
ee.presence(tsk.idx, tip.idx, state, sts) 751
Abstract 751
Input Parameters 751
Output Parameters 752
ee.release(ee.idx, tip.idx, state, sts) 752
Abstract 752
Input Parameters 752
Output Parameters 752
ee.select.ck(ee.idx, tip.idx, sts) 752
Abstract 752
Input Parameters 752
Output Parameters 753
ee.select(ee.idx, tip.idx) 753
Abstract 753
Input Parameters 753
Output Parameters 753
Example 753
ee.setoff(ee.idx, tip.idx, tool.trans, sts) 754
Abstract 754
Input Parameters 754
Output Parameters 754
Example 754
ee.gr.settle(ee.idx, tip.idx, state, sts) 755
Abstract 755
Input Parameters 755
Output Parameters 755
ee.state(ee.idx, tip.idx, state, check.inputs, sts) 755
Abstract 755
Input Parameters 755
Output Parameters 756
Example 756
ee.gr.tip.er(tsk.idx, tip.idx, state) 756
Abstract 756
Input Parameters 757
Output Parameters 757
ee.tip.erdw(ee.idx, tip.idx) 757
Abstract 757
Input Parameters 757
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 17
Output Parameters 757
ee.tip.oc(ee.idx, tip.idx, state, sts) 757
Abstract 757
Input Parameters 757
Output Parameters 758
pm.gr.trans(tsk.idx, tip.idx, tool.trans, sts) 758
Abstract 758
Input Parameters 758
Output Parameters 758
Example 758
ee.unselect(ee.idx) 759
Abstract 759
Input Parameters 759
Output Parameters 759
Example 759
V+Process Manager Documentation 762
pm.ace.blt.cam(tsk.idx, $camera, remote, encoder) 762
Abstract 762
Input Parameters 762
Output Parameters 762
Example 762
pm.ace.blt.ltch(blt.idx, enc, latch, value, $tag) 762
Abstract 762
Input Parameters 762
Output Parameters 762
Example 763
pm.ace.blt.pos(blt.idx, encoder, encoder.value, encoder.vel) 763
Abstract 763
Input Parameters 763
Output Parameters 763
Example 763
pm.ace.blt.sp(blt.idx, $spacing, value, $tag) 763
Abstract 763
Input Parameters 763
Output Parameters 763
Example 764
pm.ace.pkstate($manager, state, time.out, sts) 764
Abstract 764
Input Parameters 764
Output Parameters 764
pm.ace.ref(tsk.idx, $ref.name, sts) 764
Abstract 764
Input Parameters 764
Output Parameters 764
Example 764
pm.ace.ref.wt(tsk.idx, time.out, loc, sts) 765
Abstract 765
Input Parameters 765
Output Parameters 765
Example 765
Table of Contents
ACE Reference Guide, 18317-000 Rev A
Page 18
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Omron ACE Sight Reference guide

Omron
Brand
Omron
Model
ACE Sight
Category
Software
Type
Reference guide
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