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4 Teachin
4.4.2 Image settings for 3D cameras
Continued
Teachin depth
After taking a picture, the teachin depth can be adjusted with a live update in the
image.
The teachin depth determines at which depth, that is, at which level, the image is
captured when teaching parts. The teachin depth can never be greater than the
value of the selected analysis depth.
Interlayer search
If the function to search for interlayers is activated, FlexLoader Vision will look for
interlayers when no details are identified. When an interlayer is identified,
FlexLoader Vision will send information to the robot that an interlayer is found and
at what height it is.
Several checks are performed to ensure that an interlayer can be picked. Some
parameters can be adjusted to modify search behaviour.
Search for interlayers
Activates the function to search for interlayers.
Interlayer at pallet bottom
If this setting is selected, FlexLoader Vision will send commands to the robot to
pick an interlayer when the bottom of the pallet is detected.
Threshold height above interlayer
FlexLoader Vision starts interlayer detection by fitting a plane to all data points
within the specified height of the search volume (see camera settings). After fitting
the plane, a check is performed if anything is still present on top of the plane (i.e.
the interlayer). This parameter specifies the height at which FlexLoader Vision is
to search for remaining objects. Its value must be less than the height of the parts
to be picked.
Max total area above threshold
Indicates the total area allowed to protrude above the specified threshold height.
If the protruding surface exceeds this value, no interlayer is found. The contour
lines for these areas are marked green in FlexLoader Vision during analysis.
Min allowed dust thickness
All areas in the threshold image that are narrower than this value will be filtered
out prior to analysis.
Start height pallet bottom search
Interlayers or empty flat areas are considered as pallet bottom if their height is
below the Start height pallet bottom value.
After the interlayer analysis, the letter I together with a blue ring, will appear in the
image to indicate where an interlayer has been found. If a blue cross appears on
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30
Tip
It can be very useful to adjust the teachin depth to get clearer edges if there is
only a minor height difference.
© Copyright 2014-2018 ABB. All rights reserved.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
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