Point Pick-and-Place

images/download/attachments/106913629/image2023-6-7_11-24-54.png

It's based on the Pick-and-place operation.

The job assignment images/download/thumbnails/106913629/image2022-5-20_10-9-9.png is built on nodal points. At points, a position is set for moving the machine. By adding and removing points, you can set the desired movement of the part.

A job assignment consists of several types of points:

  1. images/download/thumbnails/106913629/1.png Start point

  2. images/download/thumbnails/106913629/2.png Pick point

  3. images/download/thumbnails/106913629/3.png Move point (relative to Pick point)

  4. images/download/thumbnails/106913629/4.png Move point (relative to Place point)

  5. images/download/thumbnails/106913629/5.png Place point

  6. images/download/thumbnails/106913629/6.png End point

    These points can be used to construct a chain of trajectories.

images/download/attachments/106913629/image2023-6-7_11-51-56.png


  1. images/download/thumbnails/106913629/1.png Start point

    It is read-only. This is the end point of the previous operation

  2. images/download/thumbnails/106913629/2.png Pick point

    The grip position of the part.

    Properties:

    images/download/attachments/106913629/image2023-6-7_14-36-51.png


    Pick position is defined in geometry coordinate system with additional transformations.
    if Pick only is selected, the trajectory stops at this point.

    images/download/thumbnails/106913629/image2022-5-20_9-56-39.png Axes - machine axis at the current point.

    When changing axes, two buttons appear:

    images/download/attachments/106913629/image2023-6-7_15-8-51.png

    images/download/attachments/106913629/ok.png - moves the point to the tip of the machine

    images/download/thumbnails/106913629/cancel.png - returns previous values

    images/download/attachments/106913629/minus.png images/download/thumbnails/106913629/Plus.png - 360/+360

    images/download/thumbnails/106913629/image2022-5-16_17-36-18.png Flip - controls flips in the robot

  3. images/download/thumbnails/106913629/3.png Move point (relative to Pick point)

    The page has buttons “Add position before” and Add position after” to add intermediate points. By default, points are added relative to the selected one.
    if you change the initial position of the part, then by default this point will also move.

    Properties:

    images/download/thumbnails/106913629/image2022-5-20_9-39-39.png Fix vX - enable 6 axis edit mode:

    images/download/attachments/106913629/image2022-5-16_17-21-45.png



    images/download/attachments/106913629/MultiGOTO.png Motion type - is set by what type to move to the point:

    • MultiGoto - Multi coordinate movement

    • images/download/attachments/106913629/PGoto.png

      PhysicGoto - Physical machine axes movement

    • images/download/attachments/106913629/AvoidColls.png

      Avoid collisions - Collision avoidance movement

  4. images/download/thumbnails/106913629/4.png Move point (relative to Place point)

    Differs from the previous point in that the point moves with the end position of the part.

  5. images/download/thumbnails/106913629/5.png Place point

    Position where the part should be placed.
    The position where the part is to be placed is defined by the workpiece connector and workpiece setup. All movements of the gripper is generated in the defined workpiece coordinate system.

    images/download/attachments/106913629/image2023-6-7_15-19-41.png



  6. images/download/thumbnails/106913629/6.png End point

    This is a return to the tool change point. If it is off, then the trajectory ends at a Place point.

Clearance point

Using these points you can define the length and the direction for the engage/retract movements to the pick and/or place positions.

images/download/attachments/106913629/image2023-6-7_16-1-52.png

How to drag points in interactive can be found in Point Welding operation


See also:

Move part operations

Machine requirements for part moving operations

Clamp devices control

Approach and return rules