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Matt_HMatt_H Posts: 8 Apprentice
I'm looking for some help for masking a pick location.
I have a Cam Locate to pick a part from a tray for measuring, to match another part.
If the parts don't match the UR5e puts the cam located part back into the tray it came from (In the same position) for future matching.
I need to redo the Cam locate to pick another part to try.
However the Cam locate usually finds the same part (As it still has the best score!)
Is it possible to mask out the discarded part or parts on the next cam Locate? 


Comments

  • bcastetsbcastets Vacuum Beta tester Posts: 502 Expert
    The best would be to detect all parts in one camlocate and then process the parts.
    https://elearning.robotiq.com/course/view.php?id=5&section=6

    It is also possible to build a list with all detected position and process it as you like.



  • Matt_HMatt_H Posts: 8 Apprentice
    bcastets,
    Thanks for your reply.
    The problem with just processing the parts with multiple detects, is that when picking the first part (due to the inaccuracy of the camera) other parts move. So a cam locate must be done every time!
    what I'd like to do is use multiple detects and compare the 1st / Best detection position with the previous putdown position (using the data F[0] to f[6]) then biased on this (if its the same don't pick and go to the second detection) or (if it's not the same continue to pick) The problem is that the Cam locate isn't done for the next pick. 
    Is it possible to force a new Cam locate every time?
  • bcastetsbcastets Vacuum Beta tester Posts: 502 Expert
    You can loop in the camelocate until all objects have been processed. The Camlocate will then be ready for a new picture.. If you have nothing to do on an object you can just go through a comment inside the camelocate.
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