Clearance Shapes; Creating A Clearance Shape - Universal Robots ActiNav Operating Manual

3. Procedures
1. In PolyScope, select Installation > URCaps > ActiNav Bin Picking > Environment.
2. In the Manage tab, tap New Environment.
3. The Clearance tab becomes active.
4. Create the Clearance Shapes for the environment. See
5. When you are done creating or editing the Clearance Shapes, tap Save Shape Changes.

3.4. Clearance Shapes

Clearance Shapes are objects in the ActiNav environment that represent objects in the real world or
serve as virtual barriers. They let ActiNav move the robot arm, the tool, and the parts without collisions.
You can create Clearance Shapes by teaching key points with the TCP, or by entering shape
characteristics in the Shape Properties and Shape Coordinates sections.
In ActiNav, you can add Clearance Shapes to the following objects: Environment, Tool, Part.

3.4.1. Creating a Clearance Shape

To create a Clearance Shape:
1. Select the Clearance tab.
2. In the Add new shape section, tap Teach.
3. Select the shape type (Sphere, Capsule, or Lozenge).
Operating Guide
Clearance
9
Shapes.
ActiNav Autonomous Bin Picking