Hi,
I have a 2 head robot system using Pickmaster. I am picking product from a moving conveyor. The robtots are set-up to run both ATC and LB. I am using the selectiondata in my GetItemTarget instruction to prevent picking items which are too close together for my picking tool. This works ok whilst both items are inside the enter/exit limits defined in Pickmaster Conveyor Settings. As soon as the first item passes the exit limit the robot will then pick the second item which is still inside the limits. This causes me a problem as both items still exist and are too close together, just that the first item has passed the exit limit.
Could anyone please suggest how to fix this please.
Hi,
Have you checked out the optional Limit parameter for GetItmTgt? It is like an additional exit limit for GetItmTgt.
I think you could solve the problem by setting this optional limit a bit upstream from the normal exit limit (how much depends on what clearance zone in X-direction you need). This way the sorting method will still be aware of the item that has passed the optional limit but not yet the exit limit. GetItmTgt will only return items that have not yet passed the optional limit
Hope this helps,
BR
Fredrik
Hi,
An other idea is to upgrade to PM 3.32.
There is in the geometric model a new advanced post search filter called item region.
I have done some test with this tool and the result where OK.
BR,
Fabrice
Hi,
Depending on what your setup is Fabrices suggestion may be the easiest way.
There is a similar problem you can run into with this method that could be good to know about if you choose to go this way:
In the same way you get problems with the sort algorithm because some items have passed the exit limit, “item region” detection may fail if a closeby product is partially outside the image border and is not detected at all. A good workaround is to define a “limit position region” for the vision model. The region should be as wide as the image in y-direction, but leave clearance zone at the top and bottom image borders (x-direction). This way targets are only produced for products well within the image (so that potentially intersecting objects are fully visible). Make sure to adjust the trigger distance so that all products are captured at least once when they are inside the “limit position region”.
BR
Fredrik
Hi,
Thanks for the suggestions. I am currently using a blob model, so will try the Limit parameter in the GetItmTgt.
BR
Mark