Parts that Require Gripper Clearance

Some parts detected using pattern matches (Geometric, Correlation) may partially overlap, hindering the robot from picking up parts. Configure the following settings to exclude such parts using the clearance checking feature of Vision Guide.

• Vision sequence
  Refer to the following and create it in the same way.
  Simple Parts

• Vision objects

1. Add two objects for detecting parts. (E.g.: Geometric)
   Example: Create GeomF for front detection and GeomB for back detection.
2. Add one or more objects to check clearance for the object that detects the part.
   Example: Create Blob objects with CheckClearance. For set to the Geometric object to determine overlapping parts.
   

Geometric property settings example

Property	Settings example
Accept	Set to ensure that parts are detected.
NumberToFind	Set to "All"
SearchWin	Match to the inner circumference of the platform.
ModelWin	Teach parts along their contour.
Name	GeomB : Name of the object that detects the back side GeomF : Name of the object that detects the front side

Blob property settings example

Property	Settings example
CheckClearanceFor	GeomF Name of the object that detects the front side
ClearanceCondition	NotFound
FailColor	LightGreen
Name	BlobRF: Detect space for right finger BlobLF: Detect space for left finger
PassColor	Red
SearchWin Type	RotatedRectangle
ThresholdHigh	192

In this example, only the front side is checked for clearance.

1. One part is put on the center of the feeder.

2. Run Vision Sequence.
   

3. Rotate parts 90°. Run Vision Sequence again.
   

Check to rotate BlobRF and BlobLF SearchWindow in accordance with the rotation of the parts. Detection result when there is a space for end effector finger. Detection result when there is no space for the end effector finger.