I have question regarding item distribution. Line include one camera which distributes items for two controllers ( two robots each).
Problem is with arm check point limit for each robot.
When camera takes items from whole view some of items are distributed to R1 and some to R2.
So the situation is, when camera will send to robot 1 items from “item area 2”, arm check point limit occuring on the on the robot 1 due to
item poition. ( item position is out of working range).
And the same is happening in opposit situation, when camera will send to robot 2 items from “item area 1”, arm check point limit
occuring on the on the robot 2.
How to solve that problem?
How to divide camera view to avoid problems with distributing items?
PS. So far in position source i made limitation for camera region and it working fine, but it is not covering whole width conveyor.
I need to set up camera view for whole conveyor width and distribute items for each robot.
Line drawing you can see in attached file.
I think i need to check in rapid code position for each item and share this poistions for properly robot, but i don’t know how to do it
It is not possible to split the camera view in 2 areas or more, the only way to solve this issue is to use the sorting function (in the Rapid code), you can filter for example the items in the y direction, when you retrieve en item with GetItmTgt instruction you check for example the y direction of the ItmTgt and according to this value you pick the item or you Nack the item so that it goes back in the queue for the next robot.
You need of course by using ATC distribute all items to all the robots. If you use loadbalancing some items will not be picked because of the working range.
You can heve 2 different items in the project, ItemR1 and ItemR2. Make one model for each item and limit the region to the right side for ItemR1 and the left side for ItemR2.
Distribute ItemR1 to Controller1 R1 and Controller2 R1. Distribute ItemR2 to Controller1 R2 and Controller2 R2.
Another way that may work could be to create two different items
Item Left with Accept = 1 and Reject = 3
Item Right with Accept = 2 and Reject = 3
Create one vision model for each item. The trick is to have individual “limit position region” settings in the model configurations. One model looks at the left side of the conveyor and the other at the right side.
In the RAPID code you do GetItmTgt with the optional argument “ItemType:=1” for the left robot and “ItemType:=2” for the right robot.
Refer to: Example: Mixing with one pick and one place work area in PickMaster User’s Guide.
Since the robots work areas are overlapping there is no reason for it. Overlap and Position filter will make sure an item is only found once.
Another problem is that the robots may collide with each other, but that’s possible to tune.
I made solution with two Items to divide camera image, it seems to be working.
One thing what i have to do more is to avoid collisions between the robots but I will do that by modifiying working area of robots or limit camera view.
