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6.5.7 Example: Sorting in negative y-direction
Description of example
In this example, we shuffle items off a conveyor belt without touching surrounding
objects. The shuffle movement is done perpendicular on the horizontal plane to
the right side of the conveyor and the manipulator motion is coordinated with the
conveyor motion.
The sorting algorithm selects the item closest to the exit limit in x-direction and
has no locking objects in its selection shape.
The selection shape is defined as a long box. The shape's x-value is used to define
the corridor width, the y-value must be more than half the width of the conveyor
belt and the z-value must be greater than the largest difference in height among
all items.
Set the y-value in the OffsetData to the negative y-value of the shape, the
selection box will be moved out to the right.
As a result there must be a clear corridor to the right of every item before it is
shuffled.
The algorithm will check both upwards and downwards the production flow for
other items.
Use the check limit in the x-direction as a parameter to the GetItmTgt instruction,
to define the starting point from where the first item will be shuffled. The instruction
will try to shuffle the first item between the check and enter limits. This will also
cause the selection algorithm to take all items between the check limit and the exit
limit into consideration when checking for the nearest items. Therefore the distance
between the check limit and the exit limit will be at least the diameter of the largest
item.
In the illustration below, all items will be shuffled off to the right side of the conveyor
belt. Because each item needs a clear zone, that is the shape of the ShapeType,
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
6.5.7 Example: Sorting in negative y-direction
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