ABB FlexLoader Vision Product Manual page 55

Secondary search
In certain cases the detail supervision is not sufficient to identify all collision risks,
because only the details that have been found for picking are included in the result.
The detail supervision can therefore be extended with a secondary search. This
search is based on a user-defined masking that identifies more details in the field
of view in order to improve the collision protection further. The details found in a
secondary search will not be picked.
To activate the secondary search, select Secondary search, click Edit and add a
mask to the details (in blue).
Secondary search cannot be activated for details with the analysis type Blob.
Supervision settings for 3D cameras
Introduction
The supervision settings for 3D cameras are similar to the 2D camera settings,
apart from the following details.
Image and detail supervision
The image supervision settings are always used when the 3D camera is run and
are adjusted automatically.
The detail supervision works in exactly the same way with a 3D camera as with a
2D camera. Note that the drawn red area is always placed at the height where the
detail has been identified.
Allowed overlap
If Allowed overlap is activated, the gripper is allowed to collide with objects in the
image to a certain extent. The degree of collision permitted is specified in square
millimetres. When tool collision is detected, FlexLoader Vision will compare the
collision area with the specified, permitted overlap area.
If the collision covers less than the overlap area, the robot is permitted to pick the
detail. For example, this can be used if the gripping fingers are permitted to knock
away nearby details when picking.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Note
Note that a secondary search significantly improves the collision protection, but
does not provide an absolute protection.
© Copyright 2014-2018 ABB. All rights reserved.
4 Teachin
4.9 Supervision
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