Create Date: 18 February 2022

Goals:

• Simplify ActiNav installations when a part relative placement is not needed or programmed traditionally.
• Utilize Do Custom Pose and UR Move Sequence for part handling.
• Allow ActiNav to potentially call for a new scan of data sooner.
• Allow for direct PolyScope-controlled moves after a part has been picked, which allows for direct user control of the placing path. 

Functionality:

The attached URP and URScript files contain a example of how to program a pick-and-drop sequence with ActiNav.

This programming sequence can be used to simplify ActiNav installations when a part relative placement is not needed or when a traditionally user-programmed robot path is desired. Also, this sequence can be useful in Pick and Drop applications.

The sequence can potentially allow for a new scan of data to be triggered sooner in the robot program. This is done by explicitly telling the AMM that the robot is clear of the sensor field of view (FOV). This is opposed to the system waiting until the program is at the typical Do Place or Home sequence instructions. The user must ensure that the robot, tooling or carried part does not enter the sensor’s FOV as the AMM could trigger a sensor scan at any time after the flag is set.

The sequence consists of:

• Do Custom Pose – autonomous path planning to a user defined point that is clear of the sensor’s FOV
• Setting actinav_set_scan_zone_free_flag script call – signals to the AMM that the robot is clear of the sensor’s FOV
• UR Move Sequence – user programmed path/ tool actions needed for the application
• Detach Part – instruction to remove the part’s clearance shapes carried by the robot. This helps ease path planning from the end of the UR Move Sequence to the next ActiNav move instruction

Comments/Notes:

• Do Custom Pose location – must be outside of the scanner’s field of view. Also, motions following the Do Custom Pose location should not make any part of the robot enter the scanner’s field of view. If and part of the robot obstructs the sensor’s FOV during a scan, this could cause additional processing time by the AMM. This could lead to increased cycle time or incorrectly identified picks.

• ActiNav Set Scan Zone Free Flag instruction is case sensitive and must be called in a Script instruction: actinav_set_scan_zone_free_flag(True)

• Detach Part instruction is used directly after a tool command where the part is no longer held by the robot unless the part release occurs in the UR Move Sequence. If the part is released in the UR Move Sequence make sure Detached Part follows the sequence immediately. The Detach Part instruction is used to remove the clearance shapes, linked to the part, from the tool of the robot as well as set the payload back to just tool and not tool + part. If the part is heavy, greater than 0.5Kg, and is released in an elaborate UR Move Sequence with many moves it would be good practice to set payload accordingly.