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IRvision "Picture" to use several times

  • Remigijus
  • October 28, 2023 at 3:38 PM
  • Thread is Unresolved
  • Remigijus
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    • October 28, 2023 at 3:38 PM
    • #1

    Hi,

    I have a situation, where I need to move the robot several times to the parts after the 2D IRvision had found them. I was wondering is it possible to use the same data from the first vision scan to retrack found parts again, without making new VISION RUN_FIND process.

    The rough program is:

    VISION RUN_FIND

    LBL(1)

    VISION GET_OFFSET

    go to part

    JMP LBL(1)

    Until tool has been to all parts.

    Then I need to repeat the same process just without the VISION RUN_FIND.

    At the moment when I try to run it, I get that the robot moves just to the last part, and then finishes process. How I can reset the GET_OFFSET process that it would go to all parts from first to last one again?

  • Fubini October 28, 2023 at 4:01 PM

    Approved the thread.
  • Nation
    Typical Robot Error
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    • October 28, 2023 at 4:30 PM
    • #2

    Depending on the version of the robot, you can store the image taken to an image register, then run vision processes on the stored image.

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

  • Remigijus
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    • October 30, 2023 at 10:13 AM
    • #3

    Hi,

    I'm using Fanuc CRX-10iA/L.

    I tried to duplicate values of the VR[1] in which the image is stored, by simply writing VR[2]=VR[1] and then running the second VISION GET_OFFSET process from VR[2], but this of course does not work.

    How to properly save the image from the vision system, duplicate it and use it in my program.

  • Online
    gpunkt
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    • October 30, 2023 at 11:35 AM
    • #4

    As Nation wrote, use the Image Registers here.

    In your first vision process "A", insert the "Write to Image Register" command tool. Set the IMG reg. to number 1.

    Then you will use another vision process "B", in there you will add the "Read from Image Register" command tool.

    In the locator tool of this "B"-vision process, you will specify that the locator tool should use the image in the Image register 1 instead of the one from Snap Tool.

    This way B will always use the image that was snapped in A for the vision process.

    If B is set up to locate multiple parts, you can cycle through them with executing GET_OFFSET over and over again. Be sure not to do this too many times, or you'll end up in the error-lbl part of your program.

    (Maybe start with determining the number of found parts, then only cycle through that many times, before running the Run_Find for B again).

    Hope this helps!

  • Doctor_C
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    • October 30, 2023 at 6:53 PM
    • #5

    The system should do what you are trying to do. 1 image RunFind, then it will do GET OFFSET until there are no more parts.

    BUT, do you have the process looking for more than 1 part in the top of your tree, default is 1 i think. Check that out Remigijus

    Also check out the Sorting function, you can determine the order of picking.


  • Remigijus
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    • October 31, 2023 at 12:31 PM
    • #6

    Hi,

    Thanks gpunkt your suggestion works very good for my multiple parts that I have to pick.

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  • dx200
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