FANUC: Functions

This section gives an overview about the available functions in the robobrain® interface.

CONNECT

This function starts the connection to the robobrain®.

Example:

 1:  CALL RB_VISION(CONNECT)

SET ROBOT POSE

The robobrain® system is highly dependent on knowing the robot pose. Especially for the workspace finder wizard it is necessary to push the current robot pose to the robobrain®.

The function "SET ROBOT POSE" allows to send the current robot pose to the robobrain® system. This pose is cached in the robobrain® for 2 seconds.

Example:

 1:  CALL RB_VISION(SET ROBOT POSE)

GET PICK POSE

Triggers a detection with the robobrain® system. To control the detection, the current robot pose, the pickmodel-ID and the workspace-ID are passed to the robobrain®.

The function returns a pick pose to PR[16] and sets a flag to F[16] when the robobrain® detected something.

Example:

 1:  CALL RB_VISION(GET PICK POSE)

SET PICK SUCC

A base for further improvement of the AI is collecting Data for training. Therefore it is possible to add a feedback to each capture if the estimated pick point leaded to a successful pick or not.

This is called the pick success label. The function "SET PICK SUCC" allows to send this information to the robobrain®.

It is automatically set to the capture with the ID that is in SR[4] at the time of calling the function.

Example:

 1:  CALL RB_VISION(SET PICK SUCC)

CALIB START

Starts the calibration process.

Also the information about the mount type of the camera is set here.

The camera mount options are "Robot Mounted" and "Static Mounted".

Example:

 1:  CALL RB_VISION(CALIB Start, Robot Mounted)
 2:  CALL RB_VISION(CALIB Start, Static Mounted)

CALIB SET POSE

Transmits the current robot pose and the corresponding calibration step to the robobrain® system. There are steps 1 to 5 to choose from in total.

Example:

 1:  CALL RB_VISION(CALIB SET POSE,Step 1)

CALIB FINISH

Finishes the calibration process.

Example:

 1:  CALL RB_VISION(CALIB FINISH)

CALIB CANCEL

Cancels the calibration process.

Example:

 1:  CALL RB_VISION(CALIB CANCEL)

CLOSE

Closes the connection to the robobrain®.

Example:

 1:  CALL RB_VISION(CLOSE)