Leaving space for gripper between work using IRVision

    I am using a R30ib Mini Plus with a CRX-10ia robot and a tablet-type pendant. This robot has been loaned to us from another system integrator (SI) company we collaborate with. The robot is equipped with a 2D Fanuc camera, and I am utilizing the built-in iRVision tool through the tablet.

    I have encountered a seemingly simple issue: I'm unable to exclude workpieces that are positioned too closely to each other. I require some space for the gripper to maneuver between them. Could anyone provide guidance on which vision tool I should use to mark an exclusion area? I checked the documentation but there was a lot of it so might have missed it. The workpieces are small cylinders on a conveyor belt, and they continuously cycle on the conveyor. It is acceptable for the robot to pass by those workpieces that are too close to others.

    Ive mainly only used Yamaha and Keyence vision controllers, I'm new to Fanuc. My last Keyence project used this feature to leave room for the griper to get in beside the workpeice. I appreciate any help or advice. Thank you.

    I think you will have to use a Histogram tool to check the surrounding pixels around your found feature to determine if there is enough room for the gripper or not.
    If you use the Conditional Execution Tool you can make it so that the vision process will not output the found feature as a valid detection if for example the result of the Histogram tool is not satisfying enough.

    Ok that sounds similar to what I needed to do with the Keyence controller I used recently. I will give it a try tomorrow. Thank you！

    *Update, this worked great, i used the historgram tool to draw a box where the gripper will be then used a conditional function in the IRvision tools to reject work with a high scorein that histogram box. thanks gpunkt

    Edited once, last by Woebot (June 14, 2023 at 6:21 AM).

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