This page contains help for the Vision Data. The vision registers are updated after calling the vision instruction GET OFFSET. One of the parameters is the vision register index.
Certain types of field data can be copied to other registers using the vision instructions for Vision Offset and Model ID.
The registers can also be accessed using the KAREL routines that mimic the teach pendant instructions.
Finally, you can access the system variable $VR to see the same data.
After pressing Data and selecting Vision Reg, a list of ten vision registers is displayed. The function keys, F1 and F4, are active.
F1, [TYPE], allows you to select another type of register and display its list page.
F4, DETAIL, expands the data fields of the selection register in the list.
ENTER allows you to enter a description in the comment field.
Selected Field: The first line indicates the selected field and the number of fields (1/10).
Each Field displays the Index of the VR and a comment field.
DATA Vision Reg 1/10 comment VR[ 1: ] VR[ 2: ] VR[ 3: ] VR[ 4: ] VR[ 5: ] VR[ 6: ] VR[ 7: ] VR[ 8: ] VR[ 9: ] VR[ 10: ]
Pressing the DETAIL function key on the previous screen will display this screen.
The Function keys, F1 through F4, allow you to navigate to other vision registers or go back to the list of vision registers.
F1, [TYPE], allows you to select another type of register, and display its list page.
F2, PREV, displays the previous vision register.
F3, NEXT, displays the next vision register.
F4, LIST, displays the list screen.
There are 17 fields on this screen the first field is selected.
Index: Index of the vision data list
Work ID: Always 0
Type: Always 0
MODELID: Model ID of the found part.
ENC: Encoder count (used with vision/line tracking)
OFFSET: Vision Result - Might be a frame offset, tool offset or a position.
GP MASK: Group mask of the offset data
MEAS[1] : First measurement associated with the vision process. There are ten measurement fields.
DATA Vision Reg 1/17 [ 1] WORKID: 0 TYPE: 0 MODELID: 18 ENC: 0 OFFSET: X —33.609 mm W 0.000 deg Y 2.154 mm P 0.000 deg Z 0.000 mm R 13.911 deg GP MASK: [1,*,*,*,*] MEAS[ 1]: 15.000