Post inspection [PickMaster 3]

PickMaster
1

I am placing on a moving conveyor, by going to a fixed RobT, that I am not using conveyor tracking on. However, I would still like to do a post inspection on the items. If I use a Photoeye to trigger the camera, is there a way to use the Post inspection capabilities? I was considering using a second PE as an interupt, to run a routine that would use the GetItemTgt statement to pull the vision information out of the queue of the camera2 on the post inspection.

2

Yes you can use the camera as a sensor triggered camera. After that use the Post Inspection as described in page 159-160 in the user manual.

You can pull out data to see if the items are accepted or rejected with the second PE.

3

Do I need to connect the second PE with an interupt that will run a Trap routine that executes the GetItmTgt to see if the item is accepted or rejected?

4

The problem that you could get is that when you have taken a picture of the item traveling on an untracked cnv, the item will probably have moved som between the picture taken and the actual analyze of the imgage. You can use the Queue Idle signal to trigg the interupt that will do the GetItmTgt on the camera2 queue, this way you will get the trigg at the same time that the image is done analyzed.

5

I could not get the GetItmTgt statement to work in the TRAP routine. The interupt from the Queue Idle worked correctly, but the TRAP routine always stopped and waited at the GetItmTgt statement. Is there some limitation on putting the GetItmTgt statement in a TRAP routine?

6

There should not be any limitations, did you try to use the same code as in the place routing, but without the movments? So that you connected to workobject and so on.

VAR itmtgt PostTarget:=[0,0,0,[[0,0,0],[0,-1,0,0],[0,0,0,0],[0,0,0,0,0,0]]];

Coordinated;
WObjPick:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PostTarget;
AckItmTgt ItmSrcData{Index}.ItemSource,PostTarget,TRUE;
UnCoordinated;

7

I ended up using a NextItmTgtType command followed by a Flush*tmSrc after to clear out the queue. I then did my inspect based upon the Type. This worked ok. Thanks for the help.