ABB PickMaster Twin - PowerPac Applications Manual page 388

6 RAPID reference
6.3.2 selectiondata - Selection data
Continued
The orientation of the shape's coordinate system is defined by the offset data
component. By default it is the coordinate system of the shape aligned to the
workobject or conveyor frame. Note that all shapes origin are placed in the center
of the shape and the values are the distance to every plane in both positive and
negative direction. That is, if a box is defined as x: 10, y: 15 and z: 20 the box will
have a size of 20 mm in x-direction, 30 mm in y-direction and 40 in z-direction. If
no offset is used the check for other items in range will be done 10 mm before, 10
mm after, 15 mm left of, 15 mm right of, 20 mm above, and 20 mm underneath
every item.
Offset
Data type: offsetdata
The offset consists of OffsetRelation (offsetreltype) and OffsetPose
(pose).
The OffsetRelation can be of two different types.
The OffsetPose is used to move the center of the shape away from the item
position, for example, if the grip position of the item is not at the center of real
object to pick.
Examples
Limitations
The orientation must be normalized; that is the sum of the squares must equal 1.
Structure
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388
• A SPHERE shape is defined by the radius value.
• FRAME_COORD_DIR indicates that the rotation in the OffsetPose is relative
to the workobject or conveyor frame coordinate system.
• ITEM_COORD_DIR indicates that the rotation in the OffsetPose is relative
to the item coordinate system of the item to check.
VAR selectiondata clear_rect:= [BOX,ITEMS_TO_USE,[22,15,5,0],
[FRAME_COORD_DIR,[[0,7,0],[1,0,0,0]]]];
2 2 2
q1 + q2 + q3 + q4
<dataobject of selectiondata>
<ShapeType of shapetype>
<ConsiderType of considertype>
<GeometricData of geodata>
<x of num>
<y of num>
<z of num>
<radius of num>
<Offset of offsetdata>
<OffsetRelation of offsetreltype>
<OffsetPose of pose>
<trans of pos>
<x of num>
<y of num>
<z of num>
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2
= 1
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B