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4. Simple application examples
4.3. Find Next Part
Set Find Next Part parameters for ActiNav Bin Picking to select the next best part candidate to be
picked up.
4.3.1. Configuring Do Pick
When the robot reaches the position/s defined in the Pick Rules, you must assign actions to the tool.
Each Pick Rule position, must have an assigned Do Pick action for the tool to pick, and attach to, a
part.
To configure the Do Pick, you assign the following actions to the tool:
• Pre-Pick
• Pick
• Post-Pick
To assign a Pre-Pick action:
1. In the Pick and Place Loop program, under Find Next Part, tap Pre-Pick.
2. Add the required program nodes for your desired actions, under the Pre-Pick node.
You can also add the required program nodes to the Insert actions to perform at pre-pick field.
Your desired actions are performed once the robot reaches the Pre-Pick position.
In this example, a digital output is programmed to turn on the suction cup of the vacuum gripper.
To assign a Pick action:
Operating Guide
29
ActiNav Autonomous Bin Picking
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