Addition of the description about Measurement Output for Inspection

for FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER

iRVision OPERATORS MANUAL (Reference)

1. Type of applied technical documents

FANUC Robot series R-30iB/R-30iB Mate CONTROLLER

Name
iRVision OPERATORS MANUAL (Reference)

Spec.No./Ed. B-83304EN/03

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Add 9.4.8 IRVGETMSR, IRVGETMSL New Immediately
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Addition of the description about Measurement

Title Output for Inspection for FANUC Robot series
R-30iB/ R-30iB Mate CONTROLLER iRVision
OPERATORS MANUAL (Reference)
Draw
No. B-83304EN/03-05

Ed. Date Design Description 1/4

Date 2015.6.5 Desig. Y.Takahashi Check Apprv. F.Warashina
Sheet
 9 STARTING FROM A ROBOT PROGRAM
9.4.8 IRVGETMSR, IRVGETMSL
IRVGETMSR and IRVGETMSL are functions to output measurement values used with the Single-view
Inspection vision process to numeric registers. These commands are used after RUN_FIND.

IRVGETMSR
This KAREL program outputs measurement values designated by Variable 1 to Variable 10 in the last
Evaluation Tool on the tree view.

The following four arguments need to be passed.

Argument 1: Vision Process Name

Specify the Single-view Inspection vision process name.

Argument 2: First Register Number for Measurement Values

Specify the first register number for storing the measurement values. By default, 10 measurement values
designated by Variable 1 to Variable 10 in Evaluation Tool are stored in 10 consecutive numeric
registers, starting from the register number specified by this argument.

Argument 3: First Measurement Number

Specify the first measurement number in Evaluation Tool to be output. This argument is optional. If not
specified, the default value of 1 is used.

Argument 4: The Number of Measurement Values

Specify the number of measurement values in Evaluation Tool to be output. This argument is optional. If
not specified, the default value of 11 minus Argument 3 is used.

IRVGETMSL
This KAREL program outputs measurement values designated by Variable 1 to Variable 10 in the child
Evaluation Tool of each locator tool.

The following seven arguments need to be passed.

Argument 1: Vision Process Name

Specify the Single-view Inspection vision process name.

Argument 2: Found Part Index

Specify the index number of the found part to be output.

When there are multiple locator tools in the vision process, as shown in the following image, the index
number is the cumulative number of the found parts from the top of the tree (The following image shows an
example where GPM Locator Tool 1 detects three parts and Blob Locator Tool 1 detects two parts).

Addition of the description about Measurement

Title Output for Inspection for FANUC Robot series
R-30iB/ R-30iB Mate CONTROLLER iRVision
OPERATORS MANUAL (Reference)
Draw
No. B-83304EN/03-05

Ed. Date Design Description 2/4

Date 2015.6.5 Desig. Y.Takahashi Check Apprv. F.Warashina
Sheet
 index = 1
The Number of Found Parts 3 index = 2
Model ID 1 index = 3

The Number of Found Parts 2

Model ID 2 index = 4
index = 5

Result
USE
No Model ID
IRVGETMSR

Argument 3: Register Number for PASS/FAIL Result

Specify the register number for storing PASS/FAIL result of the found part designated by Argument 2. The
following value is set in the numeric register. FAIL = 0, PASS = 1, Could not be determined = 2.

Argument 4: Register Number for Model ID

Specify the register number for storing Model ID of the found part designated by Argument 2. As shown in
the image above, when there are multiple locator tools in the vision process, measurement values to be
output are different for each locator tool. In this case, the users should set different Model ID to each
locator tool so that the measurement values can be distinguished by the TP program.

Argument 5: First Register Number for Measurement Values

Specify the first register number for storing the measurement values. By default, 10 measurement values
designated by Variable 1 to Variable 10 in Evaluation Tool are stored in 10 consecutive numeric
registers starting from the register number specified by this argument.

Argument 6: First Measurement Number

Specify the first measurement number in Evaluation Tool to be output. This argument is optional. If not
specified, the default value of 1 is used.

Argument 7: The Number of Measurement Values

Specify the number of measurement values in Evaluation Tool to be output. This argument is optional. If
not specified, the default value of 11 minus Argument 6 is used.

Sample Program 1
Shown below is an example of outputting measurement values in the last Evaluation Tool on the tree view.

1: VISION RUN_FIND VISION1

2: VISION GET_PASSFAIL VISION1 R[1]
3: CALL IRVGETMSR(VISION1, 2, 1, 5)

In this example, the PASS/FAIL result is stored in register [1] by GET_PASSFAIL. Then, the measurement
values designated by Variable 1 to Variable 5 in the last Evaluation Tool on the tree view are stored in
register [2] to [6] by IRVGETMSR.

Sample Program 2
Shown below is an example of outputting measurement values in the child Evaluation Tool of each locator tool.

Addition of the description about Measurement

Title Output for Inspection for FANUC Robot series
R-30iB/ R-30iB Mate CONTROLLER iRVision
OPERATORS MANUAL (Reference)
Draw
No. B-83304EN/03-05

Ed. Date Design Description 3/4

Date 2015.6.5 Desig. Y.Takahashi Check Apprv. F.Warashina
Sheet
 1: VISION RUN_FIND VISION1
2: VISION GET_NFOUND VISION1 R[1]
3: FOR R[2]=1 TO R[1]
4: CALL IRVGETMSL(VISION1, R[2], 3, 4, 5)
5:
6: END FOR

In this example, the number of found parts is stored in register [1] by GET_NFOUND. Then, the data of each
found part is output by IRVGETMSL. Specifically, the PASS/FAIL result is stored in register [3], the Model ID
is stored in register [4], and the measurement values designated by Variable 1 to Variable 10 in the child
Evaluation Tool of each locator tool are stored in register [5] to [14].

Addition of the description about Measurement

Title Output for Inspection for FANUC Robot series
R-30iB/ R-30iB Mate CONTROLLER iRVision
OPERATORS MANUAL (Reference)
Draw
No. B-83304EN/03-05

Ed. Date Design Description 4/4

Date 2015.6.5 Desig. Y.Takahashi Check Apprv. F.Warashina
Sheet