Check Look

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Function

This Step is used to check the vision result and provide exit ports for different vision results.

There are 5 exit ports for this Step.

Exit Port	Description
Has results	Take this exit port if the “Vision Look” Step provides a result.
No result	Take this exit port if the “Vision Look” Step does not provide a result due to an error.
Timeout	If the vision result processing does not end after the set Wait Time Out, the project will take this exit port. This exit port can be connected with the entry port of the Check Look Step to run the Step again.
Not called	“Not called” indicates that the vision project specified by the “Vision Service Name” parameter has not been executed. This port is typically taken for projects with multiple “Vision Look” Steps. The project will take this exit port if there is not a “Vision Look” Step that provides vision service for the current Check Look Step in the previous workflow.
No CloudInRoi	It usually indicates that all the workobjects to be picked have been picked successfully. This exit port is prioritized over “Has results” and “No results” exit ports.

Exit Port

Description

Has results

Take this exit port if the “Vision Look” Step provides a result.

No result

Take this exit port if the “Vision Look” Step does not provide a result due to an error.

Timeout

If the vision result processing does not end after the set Wait Time Out, the project will take this exit port.
This exit port can be connected with the entry port of the Check Look Step to run the Step again.

Not called

“Not called” indicates that the vision project specified by the “Vision Service Name” parameter has not been executed.
This port is typically taken for projects with multiple “Vision Look” Steps. The project will take this exit port if there is not a “Vision Look” Step that provides vision service for the current Check Look Step in the previous workflow.

No CloudInRoi

It usually indicates that all the workobjects to be picked have been picked successfully. This exit port is prioritized over “Has results” and “No results” exit ports.

The relevant example project to the “Check Look” Step is provided to help you learn more about the process of checking the vision results. For the example project, you can go to File > New > Example projects > Others > Check Vision Result in the software.

Parameter Description

General Parameters of Non-Move Steps

Skip Execution

None	Default setting. Do not skip the current Step.
Simulation only	Skip the current Step during simulation. The exit port is specified by Out Port When Skip.
Always	Skip the current Step when the project is simulating or running. The exit port is specified by Out Port When Skip.
Instruction	When Simulation only or Always is selected, the current Step will be skipped and the subsequent Step will be executed when running the project. If this parameter is set to None in “Check DI” Step in the project, and there is no external input signal during simulation, the project will be stopped when executing to this Step. In this case, setting the parameter to Simulation only or Always enables the simulation to continue.

Out Port When Skip

This parameter will take effect when Skip Execution is set to Simulation only or Always. It specifies the exit port when skipping a Step.

Check Custom Key

Unselected by default, and the custom key will not be checked. Select to check the custom key, and then you can customize the Key to Check to communicate with the Adapter.

Pre Plan Out Port

To make the path planning process in the actual application continuous, the software will execute a pre-planning beforehand on the backend. Specifying a pre-plan exit port along which the project is most likely to proceed can reduce the probability of re-planning and the wait time of the robot.

Parameter value	Description
-1	Do not specify an exit port for pre-planning.
0	The project will take the Has results exit port during pre-planning.

Parameter value

Description

-1

Do not specify an exit port for pre-planning.

The project will take the Has results exit port during pre-planning.

Wait Time Out

This parameter specifies the maximum time to wait for the vision service to respond (Unit: s; default value: 5s). This parameter is used in conjunction with the Timeout exit port. Please set the value according to the actual requirement.

Vision Service Name

Select the name of the Mech-Vision project that provides the vision service.

This parameter value should be the same as the “Vision Service Name” selected in the “Vision Look” Step.

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