©
Copyright Asyril S.A.
UR program examples
Version: A2
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6.1.1. Flexible_pick_and_place_without_vision_feedback
The
Flexible_pick_and_place_without_vision_feedback
example implements the process
without any feedback from the vision system, the Asycube surface being flat.
If no parts have been detected, new parts must be first provided by the hopper and then
distributed over the whole Asycube flat surface as equally as possible.
To do so, once the parts are provided by the hopper, they are first centered along the short
axis of the platform, then centered along its long axis, and finally flipped. It results in an
overall equal part distribution over the Asycube surface. The last
Wait
node allows the
process to wait for the parts to stabilize after having been flipped.
Figure 6-5
– URCap program: distributing the parts over the Asycube surface
6.2. Flexible_pick_and_place_structured_plate_without_vision_fe
edback
The
Flexible_pick_and_place_structured_plate_without_vision_feedback
example
implements the process without any feedback from the vision system, the Asycube surface
being structured, so that the parts fit perfectly on it when moved.
If no parts have been detected, new parts must be first provided by the hopper and then
moved onto the Asycube surface, so that most of them fit into the different empty spaces of
the structured Asycube plate.
To do so, once the parts are provided by the hopper, they are first flipped to widen their
distribution over the Asycube surface. Then, to make them travel over the Asycube surface
so that they can fit into the plate empty spaces, the Asycube moves them in one direction
(
Forward
for instance) and then in the opposite direction (
Backward
for instance) during the
same vibration duration (2 seconds in the example). The last
Wait
node allows the process to
wait for the parts to stabilize.
