V+ ACE Sight Module Documentation Input Parameters Parameter Description queue_index The index of the queue to clear Output Parameters None getinstance(queue_index, flags, location, model, encoder, visionx, visiony, visionrot) Abstract This function is the main function called to retrieve the instance. Input Parameters Parameter Description queue_ index This is the queue index in which we want to retrieve the instance flags Flag bits to control operation of the routine: l Bit 1: If set, routine waits for queue element to be defined; otherwise, "fail" if the element is not defined l Bit 2: If set, do not remove the instance from the queue; otherwise, remove the instance from the queue.
l Bit 3: If set, we are sure there is an instance in the queue. When using this bit, the calling program is responsible for checking if an instance is ready in the queue; otherwise, getinstance will check if there is an instance before retrieving it from the queue. Output Parameters Parameter Description location Location of the part found by iSight. The location can be relative to the belt reference frame or the robot reference frame depending on the option selected in the communication tool on iSight side. model Model Index (-1 if there was an error) encoder Contains the encoder value when the instance was found.
visionx Countains the part X position in the vision coordinates reference frame visiony Countains the part Y position in the vision coordinates reference frame ACE Reference Guide, 18317-000 Rev A Page 747