Multi-Part / Multi-Robot Summary

Here is a brief summary of the key concepts that are required for a multiple part / multiple robot Part Feeding application -

• PF_Start allows you to specify up to four different parts that you want to run on the same feeder at the same time.
• PF_ActivePart allows you to select the part that is currently needed. The system will vibrate to ensure that the desired part is available.
• Up to 2 robots can access the same feeder at the same time.
  PF_AccessFeeder and PF_ReleaseFeeder ensure that both robots can safely pick from the feeder without the possibility of collision.
• The PF_Robot Return Value controls the main process flow.
  The following return values provide different functionality.
  PF_CALLBACK_SUCCESS
  If PF_ActivePart (i.e., the desired part) is available, the system will call the PF_Robot function again without re-acquiring vision images or reloading the part queues. If the PF_ActivePart is not available, new images are acquired each of the parts and the part queues are reload.
  PF_CALLBACK_RESTART
  The system will acquire new images for every part that was executed in the PF_Start statement and reload all the part queues.
  PF_CALLBACK_RESTART_ACTIVEPART
  The system will acquire a new image for the PF_ActivePart only. The PF_ActivePart’s queue will be loaded with the vision results and all other part queues will be cleared.