SICK PLOC2D 4.1 - Page 48

°
The PLOC2D sensor assigns a percentage score to each located part. Only
parts with scores above the score threshold will be reported.
5. Place the reference part in the sensor's field of view.
NOTE
Note that the part must remain in this position until the job configuration is
finished, or otherwise instructed.
6. Depending on chosen alternative:
°
Stationary option 1: Jog the robot to the pick pose for the part. Save the pick
pose in the robot program from the origin of the work plane alignment base.
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Stationary option 2: Continue with next step. The pick pose is later defined in
step 10..
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Robot mounted: Set the pick position, see "Robot mounted sensor",
page 48.
7. Adjust settings in the Advanced section, see Image acquisition and Algorithm.
8. Click Acquire to acquire a reference image.
✓
The displayed reference image is rectified, that is, projected onto the selected
work plane.
9. Define a part shape region, see Draw a part shape region.
Optional:
10. Set or adjust the pick position with the part reference point tool, see Adjust the
pick position.
11. Define a gripper clearance region, see Draw a gripper clearance region.
12. Define a job exclusion region, see Draw a job exclusion region.
7.2.4.2 Robot mounted sensor
Set the pick position for robot mounted sensor
1. Jog the robot and place the gripper in the intended pick pose relative to the part.
2. Send a Job.PartReferencePoint.Set command with the position and rotation
of the gripper tool center point from the default origin of the robot (usually the
robot base).
✓
The part reference point should now be updated in the web UI.
3. Move the robot to the work plane robot pose.
4. Continue with Job configuration from step 7.
7.2.4.3 Define regions
Jobs include part shape regions and may include one or more gripper clearance regions
and exclusion regions.
Click Brush to start editing the regions.
Draw a part shape region
The part shape regions define features of the reference part image that the RG-system
will locate.
•
Click Part shape to select the part shape region layer. The part shape region is
orange.
•
Click Brush to draw a region that covers a feature of the reference part. See
figure 21.
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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 Clear to remove the applied region.
7 OPERATION
48
O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK
Subject to change without notice