Universal Robots ActiNav Operating Manual page 19

Defining the walls of the bin
To define a wall, you must define 4 points on the interior side of the wall, and one point at the top of the
wall.
The 4 points should not be near each other.
If the wall has grooves, or is irregular, define points on the innermost surface of the wall.
To define points, move TCP so that it touches a wall in those points. When defining the point at the top
edge of the wall, move the TCP so that it touches the edge of the wall from the top (this can be any point
on the edge).
To define the walls of the bin:
NOTICE
Defining the walls of the bin incorrectly can result in an incomplete bin shape.
• Define the bin walls in a clockwise direction.
1. Tap Point 1. PolyScope shows the Move tab.
2. Move the TCP so that it touches a point on the wall (for one of the points on each wall, the dialog
prompts you to touch the edge of the wall). Tap OK. The circle next to Point 1 becomes green.
3. Repeat steps 1–2 for the rest of the points.
4. After defining all points on the current wall, tap Next. The wizard highlights the next wall where
you repeat this procedure. For example, when you define the five points on the front wall of the
ActiNav Autonomous Bin Picking 14
3. Procedures
Operating Guide