> For the complete documentation index, see [llms.txt](https://support.robominds.de/manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://support.robominds.de/manual/robots/robot-interfaces/fanuc/fanuc-robobrain-r-interface/fanuc-functions.md).

# FANUC: Functions

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

### CONNECT

This function starts the connection to the robobrain®. 

{% code title="Example: " %}

```
 1:  CALL RB_VISION(CONNECT)
```

{% endcode %}

### 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. 

{% code title="Example:" %}

```
 1:  CALL RB_VISION(SET ROBOT POSE)
```

{% endcode %}

### 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. 

{% code title="Example:" %}

```
 1:  CALL RB_VISION(GET PICK POSE)
```

{% endcode %}

### 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. 

{% code title="Example:" %}

```
 1:  CALL RB_VISION(SET PICK SUCC)
```

{% endcode %}

### 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".

{% code title="Example:" %}

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

{% endcode %}

### 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. 

{% code title="Example:" %}

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

{% endcode %}

### CALIB FINISH

Finishes the calibration process. 

{% code title="Example:" %}

```
 1:  CALL RB_VISION(CALIB FINISH)
```

{% endcode %}

### CALIB CANCEL

Cancels the calibration process. 

{% code title="Example:" %}

```
 1:  CALL RB_VISION(CALIB CANCEL)
```

{% endcode %}

### CLOSE

Closes the connection to the robobrain®.

<pre data-title="Example:"><code><strong> 1:  CALL RB_VISION(CLOSE)
</strong></code></pre>