Setting Part Properties; Creating A Clearance Shape For The Part - Universal Robots ActiNav Operating Manual

3. Procedures
1. Insert a USB flash drive with the CAD model of the part into the Teach Pendant.
2. In PolyScope, select Installation > URCaps > Bin Picking > Part.
3. In the Manage tab, tap New Part.
4. In the Import File dialog, tap Browse.
5. Navigate to Media, select the Part model file, then select the desired part name.
6. PolyScope imports the CAD model and shows the Properties tab.
Now you can define the Part properties.

3.6.2. Setting Part Properties

Part Properties
In the Part Properties, enter the required part payload and center of gravity coordinates.

3.6.3. Creating a Clearance Shape for the Part

Create as few Clearance Shapes as possible to cover the entire object.
To create a Clearance Shape:
1. Select the Clearance tab.
2. In the Add new shape section, select desired shape type (Sphere, Capsule, or Lozenge).
3. PolyScope creates the new Shape with a default name. Edit the name if necessary.
Operating Guide 17 ActiNav Autonomous Bin Picking