ABB PickMaster Twin - PowerPac, Applications Manual

Page: 388 / 454

• A
SPHERE
shape is defined by the radius value.
The orientation of the shape’s coordinate system is defined by the offset data
component. By default it is the coordinate system of the shape aligned to the
workobject or conveyor frame. Note that all shapes origin are placed in the center
of the shape and the values are the distance to every plane in both positive and
negative direction. That is, if a box is defined as x: 10, y: 15 and z: 20 the box will
have a size of 20 mm in x-direction, 30 mm in y-direction and 40 in z-direction. If
no offset is used the check for other items in range will be done 10 mm before, 10
mm after, 15 mm left of, 15 mm right of, 20 mm above, and 20 mm underneath
every item.
Offset
Data type:
offsetdata
The offset consists of
OffsetRelation
(
offsetreltype
) and
OffsetPose
(
pose
).
The
OffsetRelation
can be of two different types.
•
FRAME_COORD_DIR
indicates that the rotation in the
OffsetPose
is relative
to the workobject or conveyor frame coordinate system.
•
ITEM_COORD_DIR
indicates that the rotation in the
OffsetPose
is relative
to the item coordinate system of the item to check.
The
OffsetPose
is used to move the center of the shape away from the item
position, for example, if the grip position of the item is not at the center of real
object to pick.
Examples
VAR selectiondata clear_rect:= [BOX,ITEMS_TO_USE,[22,15,5,0],
[FRAME_COORD_DIR,[[0,7,0],[1,0,0,0]]]];
Limitations
The orientation must be normalized; that is the sum of the squares must equal 1.
q1
2
+ q2
2
+ q3
2
+ q4
2
= 1
Structure
<dataobject of selectiondata>
<ShapeType of shapetype>
<ConsiderType of considertype>
<GeometricData of geodata>
<x of num>
<y of num>
<z of num>
<radius of num>
<Offset of offsetdata>
<OffsetRelation of offsetreltype>
<OffsetPose of pose>
<trans of pos>
<x of num>
<y of num>
<z of num>
Continues on next page
388 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.3.2 selectiondata - Selection data
Continued