Pick
This screen configures settings relating to the feeder layout and part pick up.
| Items | Description |
|---|---|
| Feeder Orientation | Sets the feeder orientation when seen from the camera. |
| Pick Region | Sets the region for picking up parts when seen from the camera. Select either Anywhere, Region A, B, C or D. Note that when Anywhere is not selected, then Shift calibration is required. IF-80: Anywhere IF-240: Anywhere, Region A, Region B, Region C, Region D IF-380 & IF-530: Anywhere, Region A, Region B |
| Avoid interface with robot hand | Select this check box to enable a function used to avoid interference between the end effector and the platform tray walls. |
| Hand Clearance Radius | Parts within this distance from the circumference of the platform (set in the vision search window) will not be included in the coordinates queue. Units are in mm. |
| Minimum pickable parts required before calling PFRobot | Normally the system will call the PF_Robot callback even when only 1 pickable part is found. The default value is 1. In general, you don’t need to change this setting because feeder vibration can take a long time to perform and there is no guarantee that more pickable parts will be found after the vibration. Regardless of this setting, the part queue is always loaded with the actual number of parts that were found by vision. The system determines how to vibrate based upon the quantity and distribution of parts." If the "Minimum pickable parts required before calling PF_Robot" is not satisfied, the system will perform an appropriate action. In some cases, system performance can be improved if there are a minimum number of pickable parts on the feeder before PFRobot is called. |
| Teach | Opens the Teach dialog to allow teaching of the Z coordinate at part pick up. When using a 6-axis robot, the V and W orientations are taught in addition to the Z coordinate. Refer to the following for further details. |
| Pick Z | This is the Z coordinate (local coordinates) at part pick up. The Z coordinate used for teaching will be shown here. Enter a new value to manually change this. Units are in mm. |
KEY POINTS
Check that interference does not occur between the end effector and the platform when "Avoid interface with robot hand" is enabled and the Hand radius has been adjusted.
KEY POINTS
When "User processes vision for part PF_Vision callback" is selected on the Vision screen and "Avoid interface with robot hand" is enabled, it is important to note that parts within the Hand radius distance from the platform edge will be included in the parts coordinates queue. Be careful.
TIP
While V and W coordinate values will not appear on the dialog when using a 6-axis robot, these values will be stored in internal memory.
| Button | Description |
|---|---|
| Close | Closes the screen. |
| Apply | Applies changes. |
| Restore | Undo changes. |