Universal Robots ActiNav, Быстрый старт

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4. Configuring the workspace
This section contains guidelines and suggestions for configuring a bin picking application.
4.1. Positioning the robot arm
When positioning the robot arm, ensure the following:
• The robot arm can reach the parts with the tool.
• The robot arm can reach the destination for placing parts.
• The robot arm and the tool have enough space for maneuvering at the pick location and at
the place target.
• The robot arm can move the tool with the part from the pick location to the place target as
freely as possible.
Since each pick is unique, the robot arm assumes different poses to place the part at the
place target. Position the robot arm and other components so that the arm has as much
free space to move as possible.
For more information about robot arm position, see the ActiNav Integrator Guide .
4.2. Positioning the 3D sensor
When positioning the 3D sensor, ensure the following:
• The 3D sensor has unobstructed view of the parts in the bin.
• The parts are within the scanning volume of the 3D sensor. The scanning volume is in
section 7. Specifications on page 17 .
• The 3D sensor leaves the robot arm enough space for maneuvering.
• The 3D sensor does not vibrate during the system operation.
For more information about 3D sensor position, see the ActiNav Integrator Guide .
4.3. Positioning the Autonomous Motion Module
When positioning the Autonomous Motion Module (AMM), ensure the following:
• The environment around the AMM is suitable for an IP40 device.
• The Ethernet cables from the 3D sensor and the Control Box can reach the AMM. If the
supplied cable length is not enough, use a longer Cat 6 Ethernet cable.
ActiNav Next-Generation Machine
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10 Quick Start Guide
4. Configuring the workspace
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