NOTE
The command Run.LocateAll can be used to get all located results at once,
instead of getting one result at a time.
The results for a job are sorted by X-position followed by Y-position, with regard to the
alignment target.
For a full list of commands and associated parameters, see "", page 60.
Conveyor tracking
The image exposures for each Run.Locate command can be registered using conveyor
tracking. Connect the robot controller to pin 16 on the Power and I/O connector on
the PLOC2D sensor to activate conveyor tracking. For more information, see "Conveyor
tracking", page 36.
7.3.2 Coordinate representation
Rotation is by default represented as extrinsic X-Y-Z Euler angles, it is possible to
change the rotation representation to better fit your robot brand, see "Rotation conven‐
tion", page 55.
NOTE
Please consult your robot manual for information about the coordinate representation
used by your robot brand. You may need to convert the coordinates reported by the
robot guidance system to a representation valid for your application.
7.3.3 Robot program
See the flowchart diagram in figure 31 for a step by step description of how a PLOC2D
sensor and a robot interacts during a part localization cycle. Robot programs for differ‐
ent types of robots are available for download via the SICK Support Portal.
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
59
Subject to change without notice
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