# bottle swing out  \[PickMaster 3\]

**URL:** <https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497>\
**Category:** PickMaster\
**Created:** [April 10, 2010, 3:24am UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497 "2010-04-10T03:24:35Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![sumin](https://avatars.discourse-cdn.com/v4/letter/s/b77776/32.png) [@sumin](https://tech-community.robotics.abb.com/u/sumin)\
**Post date:** [April 10, 2010, 3:24am UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497/1 "2010-04-10T03:24:35Z")

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dear all,

In my project i try to make flexpicker pick the bottle as fast as possible so it can handle 9600 pick/hour, there are experiments i made :

1. I tried to decrease pick elevation, it could work but the problem is when the robot pick  
A? A? bottle2, the cylinder moves up while the robot goes to place conveyor. It’s make the bottle ( bottle 3) beside bottle2 swing out, and then robot can’t pick the bottle3. ( we used two vacuum ).A?Can we modify the picking sort direction?

2.A?The other ways that I’ve tried was increase the pick elevation. There’s no more swing bottles, but the output is reduced, because it makes longer path.

do you have any comment or ideas with this problem?

Regards,

Sumin

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**Author:** ![carmila](https://avatars.discourse-cdn.com/v4/letter/c/4bbf92/32.png) [@carmila](https://tech-community.robotics.abb.com/u/carmila)\
**Post date:** [April 14, 2010, 4:30pm UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497/2 "2010-04-14T16:30:11Z")

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Could we make the robot moves to pick bottles that placed near the conveyor first?  
I mean that maybe there are any possibility to change the pick order. Also maybe you should detect all of bottle part, not only for the neck. ( I wish this method can help the pickmaster to decide which bottle that placed nearest the place conveyor).

Good luck, Sumin.. !!

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**Author:** ![Mats\_W](https://avatars.discourse-cdn.com/v4/letter/m/df705f/32.png) [@Mats\_W](https://tech-community.robotics.abb.com/u/Mats_W)\
**Post date:** [April 20, 2010, 9:05am UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497/3 "2010-04-20T09:05:37Z")

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Sumin, have you tried to use the sort methods explained in the manual, using different parameters in the datatype selectiondata in Rapid?

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**Author:** ![sumin](https://avatars.discourse-cdn.com/v4/letter/s/b77776/32.png) [@sumin](https://tech-community.robotics.abb.com/u/sumin)\
**Post date:** [April 21, 2010, 3:53am UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497/4 "2010-04-21T03:53:56Z")

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Dear Mats,

I have not tried to used the pick sorting method before, regarding from the manual there are 2 kinds of sorting method : x-direction and strict from container configuration and negative y sorting from rapid code, could you give me suggestion which one is the best?😉

thank you for your kind attention,

Warm regards,  
Sumin

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**Author:** ![Mats\_W](https://avatars.discourse-cdn.com/v4/letter/m/df705f/32.png) [@Mats\_W](https://tech-community.robotics.abb.com/u/Mats_W)\
**Post date:** [April 21, 2010, 9:22pm UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497/5 "2010-04-21T21:22:31Z")

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The  
The sorting in rapid with selectiondata is the one you shall use. By setting different parameters you can get different behavior.

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**Author:** ![sumin](https://avatars.discourse-cdn.com/v4/letter/s/b77776/32.png) [@sumin](https://tech-community.robotics.abb.com/u/sumin)\
**Post date:** [April 22, 2010, 4:44am UTC](https://tech-community.robotics.abb.com/t/bottle-swing-out-pickmaster-3/3497/6 "2010-04-22T04:44:36Z")

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dear Mat,

Okay i’ll try it thanks for your advise 😉

regards  
sumin