Hello,
Our customer will use double pick in PM3.11. They’ll use Adaptive task completion(ATC) or Load balance function. What happens if we use both double pick and ATC? They’re worrying about collision between picked work and work on conveyer. Is there any function to avoid it?
BR
Yu I
Hello,
you can use the selectiondata functionality to define a suitable clearance zone around the target extracted with GetItmTgt in order to avoid collisions with the second pick.
BR Anders
Hello Anders,
Thank you for your promp reply. I have a question for that clearance zone. I think PM checks if active TCP and clearance zone collides or not. But after picking 1 work in double picking does PM check between clearance zone and picked work or the other TCP which is not active at the time?
BR
Yu I
Hello,
Pickmaster checks if their are other targets inside the clearance zone. The target will only be received if the specified clearance zone is free from targets of the considered types. In order to avoid collisions, the clearance zone should be specified to include the parts of the tool that otherwise might collide with an unpicked target.
Consider type: BitOr(ITEMS_TO_USE, ITEMS_BY_PASS)
Offset: ITEM_COORD_DIR.
Geometric data: Selected to make the best match with the tool. The tooldata used when picking the target is the frame from where the clearance zone should be defined when extracting the target. The tool coordinate system coincides with item coordinates when picking the target (ITEM_COORD_DIR = “TOOL_COORD_DIR”).
Hello Anders,
Thank you for your answer. I understand what you mean. Single picker can take care of it. But my question was not complete. I’m sorry. Please let me ask 1 more question.
How about double pick with a few pickers case by single camera? Is the clearance zone effective to another picker in a same line? One of our staff watched collision in that case. For example can 1st picker avoid clearance zone which is for 2nd picker? If no is there any way to avoid like fixing 4th axis?
Best regards
Yu I
Hello Yu,
I will try to clarify. The clearance zone will consider all targets including those that will be picked by the next robots and those that will be bypassed. You might need to use one clearanze zone for the first pick and a another one for the second pick. Robot 1 may need to use other clearanze zones than robot 2. When selecting size and shape of the clearance zone for one pick with one robot, following needs to be considered: The size of the tool area that may collide with another target, the position and orientation of the tcp to be used when picking and the maximum size of neighbouring item targets.
Best regards, Anders
Hello Anders,
So you mean one clearance zone is for 1 robot. But can we use some selection data simultaneouly like below?
ItemTargetSelection:=data1selection:=data2selection:=data 3;
I’m not sure if this is correct or not cause there is no definition of for which robot in clearance data. I would appreciate if you consult some expert about this problem.
BR
Yu I
Hello Yu,
Each robot has it’s own unique RAPID program. So there is no need for multiple data to GetItmTgt. Just modify the program for each robot.
Best regards, Anders