Supervision - ABB FlexLoader Vision Product Manual

4.9 Supervision

Supervision settings for 2D cameras
Introduction
On the Supervision tab, you can adjust the settings for collision sensing. The
patented technology for collision supervision prevents collisions between the
gripper and the adjacent details to the greatest possible degree.
Collision supervision is achieved by calculating a collision risk image and then
comparing this image with the desired tool positions. The collision risk image can
be calculated in two ways, which can be used independently or in combination:
Image supervision and Detail supervision.
If the settings are incorrect or if collision risk image calculation is disabled, collisions
could occur during picking.
Image supervision
In Image supervision, data from the entire camera image is used to provide
information about the collision risk image. The image is built up of zones where
there is a collision risk (marked in black) and zones where there is no risk of collision
(white). To activate image supervision, select Image supervision. Then adjust the
Threshold value so that the details appear as black as possible and the background
as white as possible. Use Dark details/light belt to indicate if the details are dark
and the conveyor is light in color, or vice versa. The resulting collision risk image
is updated continuously to permit rapid checking.
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
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4.9 Supervision
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