Pick & Place" Node; Example Programs For The Robot Controller; Pick & Place - Baumer VeriSens ID Series Technical Documentation Manual

16.5.3 "Pick & Place" node
The node additionally simplifies the UR programming of a typical Pick&Place application.
Here, the two new nodes for job execution and for the vision waypoint are combined in a loop that monitors
the number and approach of found objects.

16.5.4 Example programs for the robot controller

Below you will find two examples illustrating the steps in the UR robot controller. The program can be seen in
the left area and the setting options for the selected program point (node) can be seen in the right area.
16.5.4.1 Pick & Place
This sample program represents a typical Pick&Place application. The vision sensor searches for objects
and the coordinates of the objects found are transferred to the robot controller. Then the objects are
approached one after the other.
Settings in the Application Suite

In the Application Suite, configure the feature check Find object positions.

In the Configure interfaces step, you can set the coordinates of the found objects to be transferred to
the robot controller. (Configure interfaces  Output robotics)
Check whether Feature for waypoint has the feature check Find object positions. Entry should be
automatic.

Save the job on the Vision Sensor.
 The coordinates of the objects found are now transferred to the robot controller via the process interface
when the job is executed.
Settings on the robot controller (PolyScope)
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Technical Documentation
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