SICK PLOC2D 4.1 - Page 45

8. Send an Alignment.HandEye.Pose.Add command with the current robot posi‐
tion.
9. Repeat steps 7.– 8. at least two times.
10. Click Calculate to calculate the sensor position on the robot arm.
✓
When the calculation is finished, the results are displayed in the Results section in
the user interface.
✓
System setting Mounting type is automatically set to Robot, see "Mounting type",
page 55.
Align to a work plane
You can align the sensor to 16 different work planes. The robot pose for each work
plane is a default pose going forward in the configuration and operation of the system.
This position and rotation of the robot will be referenced as the work plane robot pose.
1. In the user interface, go to the Alignment page.
2. In the Alignment of list, click the work plane you want to align the sensor to.
3. In the Alignment target list, click the alignment target you are using.
4. Place the alignment target on the target surface in the same plane as the parts to
be located. The target should be completely visible in the camera image.
5. Click Auto adjust exposure in Advanced to update the image exposure settings.
6. Send an Alignment.Align command with the current robot position.
°
If Align fails, check the System log to get more information. Adjust and send the
command again.
✓
"Alignment successful" message is displayed in the user interface.
7. Save the work plane robot pose in the robot program for this specific work plane.
7.2.3.3 Edit workplane description
1.
Click .
2. Enter a new workplane description (name).
3.
Click .
4. The workplane has a new description.
7.2.3.4 Define an exclusion region
An exclusion region is a part of the work plane where no parts are ever reported as
results. This is useful if some region of the work plane often causes false matches. For
example, an edge of a conveyor belt. All jobs using this work plane will benefit from the
exclusion region
Draw an exclusion region
•
Click Brush to draw an exclusion region. See figure 19.
°
Use the mouse scroll wheel or the + and - keys to adjust the size of the Brush
tool.
°
Zoom by pressing Shift+Up arrow or Shift+Down arrow.
°
Pan the zoomed view with the arrow keys.
°
Click Eraser to remove parts of the region.
°
Click Clear to remove the whole region.
OPERATION 7
8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1
45
Subject to change without notice