Description
In the Position Filter Distance part, define the minimum allowed
distance between two item positions found by a camera or an
external sensor.
Filter Setting
For example, if two or more models are used to identify the
same object, there might be one hit for each model at almost
the same location. If two positions for the same item are closer
in either x- or y-direction than the defined minimum item dis-
tance, only the position with the highest sort value will be sent
to the robot controller. The sort value can be set for each vision
model, see Adding vision model on page 245.
In the Overlap filter define the overlap distance.
For example, items can be identified in two consecutive frames
due to the overlap. The models can have a small variation in
the pick/place position between these frames. Items that are
found in two consecutive frames and whose pick/place position
between these two frames does not vary by more than the
overlap filter distance will be regarded as one item. The first
identified hit is sent to the robot, and any subsequent hit is
filtered out.
Position filter
The position filter defines the minimum allowed distance between the different
item positions found by a camera or an external sensor. For example, if two or
more models are used to identify the same object, there might be one hit for each
model at about the same location. If the two positions for the same item are closer
in either X- or Y-direction the given minimum item distance, only the position with
the highest sort value is sent to the robot controller. The sort value can be set for
each vision model. For more details, see Adding vision model on page 245. If Same
level only is selected, the filtering will only be done between item positions with
the same inspection level.
Note
The position filter is not used while predefined positions are used . The position
filter is therefore disabled in the Position Source Configuration window when
Predefined is selected.
Overlap filter
Items can be identified in two consecutive frames due to the overlap. The models
can have a small variation in the pick/place position between these frames. The
items that are found in two consecutive frames and whose pick/place position
between these two frames does not vary more than the overlap filter distance are
regarded as one item.
Distribution Setting
By default all positions are sent to the same work area. It is possible to distribute
item positions to more than one work area to balance the load between several
robots or to guarantee that all positions are accessed.
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128 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.9 Adding Recipe
Continued
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