Check Look
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.
|
Not called |
“Not called” indicates that the vision project specified by the “Vision Service Name” parameter has not been executed.
|
No cloud in ROI |
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
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. |