FANUC: Used registers

This section gives an overview about the used registers/variables in the robobrain® interface.

These registers cannot be used elsewhere when using the robobrain® system.

Register	Entry name	Description
String Registers
SR[2]	RBV_WORKSPACE_ID	ID of the Workspace to be used.
SR[3]	RBV_PICKMODEL_ID	ID of the Pickmodel to be used.
SR[4]	Recognition_ID	ID of the last recognition. Is sent to the robobrain®, to assign the pick success label to a recognition.
Position Registers
PR[16]	RB_PICK_POSE	Returned pick pose is saved here.
Flags
F[16]	RBV_HAS_RESULT	Shows if the system found a valid pick pose.

The string registers are used to handover the specific IDs of the Workspace and Pickmodel to the robobrain®. The values in SR[2] and SR[3] are sent to the robobrain® when the function "GET PICK POSE" is called in the robot program.

Position register PR[16] is used to save the returned pick pose.

The Flag F[16] is set to "TRUE", when the robobrain® system has found a valid pick pose. This information can be used in the program to trigger another capture or react on the given situation.