Deleting Register Content

    Working on an iRVision application, and my first Fanuc robot. My colleague and I have figured out how to pull multiple positions from the camera, and save them to the Vision Registers. What we are now trying to figure out is how to ERASE those registers after we are done using the data. We want to pick multiple parts from a single image, then overwrite the data with a new image. But we are also counting the number of parts we find, and do not want registers to be populated if there is not a corresponding part.

    We considered setting all the registers to [0,0,0,0,0,0] or to our vision reference position, but that will still allow robot motion to those points. If the register value has been deleted completely (shows as '*' on the pendant, then it can't/won't try to reach that position. So what would the command be to ERASE or DELETE all data from a given register?

  • 95devils August 18, 2023 at 12:07 AM

    Approved the thread.

    Instead of doing that you can use the RUN FIND command, with find multiple set to whatever # you want in the vision process. Then you simply call GET Offset VR[1] and pick in a loop until there the get offset fails (to a jump label). Then you always use VR[1] and let the system manage it for you.

    In other words you call VISION RUN_FIND once and it stores multiple found parts in the background without using a vision register. Then each time you call VISION GET_OFFSET it will load the next found part into the register, overwriting what was there before. When there are none left it jumps to a label, then you can jump back and RUN_FIND again.

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