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Copyright Asyril S.A.
Advanced use of the Asycube Control URCap
Version: A2
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Figure 4-2
– Duration modes for the Hopper node
The
Smart Feeding
option allows the advanced user to trigger the hopper outputs in a smart
way (
Production
mode) and eventually to test the hopper behaviors (
Test
mode), before
running the UR program. The user can select either the
Production
or the
Test
node. The
interface of the node is updated accordingly.
The
Production
node is dedicated to trigger the hopper behaviors during the UR program
execution.
Considering parts coming from a hopper and falling on the Asycube surface, the smart
feeding process consists in optimally execute the hopper vibrations, ensuring that there are
enough parts on the Asycube platform for the robot to pick. If the number of parts is under a
specific threshold (maximum number of parts), new parts are fed on the Asycube by the
hopper. If this number is above this threshold, no new part is added to the Asycube.
The smart feeding process is parametrized by the current number of parts detected on this
surface and the maximum number of parts allowed on it. The current number of parts is
Figure 4-3 - Production (left) & Test (right) modes (smart feeding)
