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3.1.3. PICKIT.LFO

3.1.3. PICKIT.LFO​

 

설명

Commands the Pick-it equipment to carry out picture-taking and identification of workpieces.

Syntax

•  PICKIT.LFO P1

Parameter

PNumber

Variable to store the pose of the identified workpiece

P1 ~ P9999

Example of usage

•  PICKIT.LFO P1

•  (Identifies a workpiece in the picture and store the pose of the first workpiece as P1)

Detailed description

•  PICKIT.LFO is a statement corresponding to RC_PICKIT_LOOK_FOR_OBJECT.

•  When receiving the PICKIT.LFO command, the Pick-it equipment takes a picture and identifies a workpiece with the camera.

•  It will take about two seconds or less to process the recognition of a workpiece.

•  The picture of the identified workpiece will be stored in the storage memory of the Pick-it equipment. The picture of the first workpiece will be sent directly to the robot, along with the PICKIT.LFO statement processing result, without being stored in the memory.

•  The sent pose value will be stored in “P#.”

•  # means a number and can be designated freely by the user.

•  The Pick-it equipment provides the position and pose of a workpiece based on the robot coordinate or base coordinate.

•  The coordinate direction of the workpiece posture to be provided to the Pick-it equipment will be determined according to the Pick-it equipment setting.

 

 

l The Pick-it equipment does not identify workpieces one by one but as many as possible and store their pictures in the internal memory in the queue format. This is because it will take a lot of time to identify the workpieces if you configure the work process in the sequence of “Take a picture -> Identify one workpiece -> Process the work -> Take a picture -> Identify one workpiece -> Process the work.”

l The reference coordinate direction of the workpiece posture to be calculated by the Pick-it equipment will vary according to the type of workpiece and the setting of the Pick-it.

l The reference coordinate direction of the workpiece posture can be set parallel to the z-axis of the robot or base coordinate. It also can be set perpendicular to the surface of the workpiece and in the direction of penetrating from the ground to the ground at the same time.