Vision Move

Selected by default to send waypoint poses to the receiver, such as the robot. When this option is unselected, the waypoint will not be sent. However, the waypoint will remain in the planned path.

Unselected by default. When non-move Steps, such as Vision Look, Set DO, Check DI, etc., are connected between move-type Steps, the robot’s path planning will be interrupted, and the actual robot will take a short pause, reducing the smoothness of running. When this option is selected, the project will continue to run without waiting for the current move-type Step to complete execution, and therefore the robot can move in a smooth way without pauses. However, enabling this option may cause the execution of the Step to end prematurely.

Unselected by default, namely that the collision with the already placed objects will not be detected. When this option is selected, the collisions between the robot, end tool, and placed objects will be detected.

In palletizing scenarios, the two possible cases of error are as follows:

When this option is selected, no collision between the robot, end tool, and the placed object will be detected, and the above two cases of errors can be avoided.

Select the proper mode according to the requirement of the on-site situation. Usually, the default setting Auto can be used. Do not check collision mode can be used in move-type Steps before the robot picks the object, and Check collision mode can be used after the robot picks the object.

This parameter will only take effect when Waypoint type of the Step is set to Workobject pose.

Once the object symmetry is disabled, the robot will place the objects strictly according to the workobject poses.

Once this option is selected, the robot will move through all poses received from the vision service in sequence at one time. This option is usually used when the robot moves in a fixed path where no DO signals will be sent, such as the gluing application. This parameter cannot be adjusted with other parameters at the same time. Once this option is selected, other parameters will be hidden.

When there are multiple pickable objects in one vision result and it can be guaranteed that picking one object will not affect the poses of other objects, this option can be selected. The vision result will be reused and no new image will be captured until all pickable objects have been picked.

This option can be used to share vision results from the same Vision Look Step among multiple Vision Move Steps. You should specify a Vision Service Name once this option is selected.

Application example: When the workobject cannot be picked easily, various end tools may be used to pick the object several times. If the first attempt to pick fails, the current vision result will be discarded by default. If Share Vision Result is selected, the vision result will be used again when another end tool is used and you do not need to capture an image again. Please note that a “Reset” Step should be connected after the last “Vision Move” Step to clear the shared vision result. Otherwise, if the shared vision results are not used up, the old vision result will still be used even if a new image is captured, which will affect the normal functioning of the entire project.

To exclude the workobject point cloud from the collision detection, the point cloud of the workobject to be picked should be removed. Also, the point cloud within a certain range outside the workobject surface should be removed altogether. This parameter specifies the expanded distance on the XY plane in the workobject reference frame for point cloud removal, and the point cloud within the XY plane range will be removed.

To exclude the workobject point cloud from the collision detection, the point cloud of the workobject to be picked should be removed. Also, the point cloud within a certain range outside the workobject surface should be removed altogether. This parameter specifies the expanded distance in the Z-axis direction in the workobject reference frame for point cloud removal, and the point cloud within the Z-axis direction range will be removed.

Velocity and acceleration determine how fast the robot can move. Usually, the set acceleration should be lower than the velocity. When the set acceleration is higher than the velocity, the robot will move in a choppy way.