Example: Selecting Item Depending On Clearance Zone - ABB PickMaster Twin - PowerPac Applications Manual

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6.5.6 Example: Selecting item depending on clearance zone

6.5.6 Example: Selecting item depending on clearance zone
Description of example
In this example, we select items on a conveyor belt depending on the clearance
zone around the item, that is if there is any other item target within a specified area.
This is useful when it is important that the gripper does not touch surrounding
objects.
The selection algorithm selects the object that is closest to the exit limit in
x-direction and has no locking objects in the selection shape.
Use the check limit in x-direction as a parameter to the GetItmTgt instruction.
This makes it possible to define the starting point from where the first object will
be picked. The instruction will try to retrieve the first object between the check and
enter limits. This will cause the selection algorithm to take all objects between the
check limit and the exit limit into consideration when checking for the nearest
objects. Therefore the distance between the check limit and the exit limit will be at
least the diameter of the largest item.
The illustration below shows how the items are selected depending on the position
and the orientation. The robot will first pick item 4 and then item 3. The other two
will never be picked.
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• Item 1 cannot be picked because it has passed the check limit, and item 2
is inside its selection shape.
• Item 2 cannot be picked because the positions of items 1 and 3 are inside
its selection shape.
• Item 3 cannot be picked because item 4 is inside its selection area.
• Item 4 can be picked because no other item is its selection shape.
• Item 3 will be picked after item 4 is no longer present.
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B