schmalz 3D-R Schnellstartanleitung Seite 21

6.3.3 Setting the Projector
Use of the projector is particularly recommended for minimally textured workpieces. In addition to the light
source, the projector generates an artificial structure on the workpieces, allowing the camera to obtain a sufficient
depth image.
ü With the following settings, the projector is set to the position in which the images will subsequently be
recorded.
1. Activate the projector for test purposes under -> Modules -> IOControl -> Out 1 -> "High" (for continuous
light) or "ExposureAlternateActive" (for flashing light).
Check under Depth Image.
2. Set the projector by turning the wheel on the lens of the projector.
Secure the adjustment wheel with knurled screws.
3. After setting the parameters successfully, adjust the projector by selecting Depth Image -> "Single + Out1".
4. To avoid constant illumination of the projector and thus overheating, select Modules -> IOControl -> Out1 =
Low.
A tutorial for optimizing settings with the RandomDot projector in order to obtain dense depth images can be
found at https://tutorials.roboception.de/.
6.4 Setting up a Gripper Scene
As per your selection, a license key for one pick module has been provided via e-mail. Multiple modules can be acti-
vated and used on the camera:
Module: BoxPick
For detecting square and ordered parts, such as cardboard boxes.
Module: ItemPick
For detecting different shapes and/or unsorted parts.
6.4.1 Defining a Gripper
Select: Modules -> CollisionCheck -> Gripper -> + Add New Gripper -> Vacuum Gripper
4 Enter a name for the gripper before selecting and saving the relevant components.
The Rob-Set includes the following:
• Vacuum generator: ECBPi
• Extension: VEE-FE_181
• The relevant suction cup (see also 5.3)
If one or more components are replaced with different components, these can be entered via the "user-defined"
fields.
4 Select: Modules -> CollisionCheck -> CollisionCheck and set the safety distance.
6.4.2 Defining the Grasp Point
Select: Modules -> ItemPick or BoxPick
1. Select: ItemPick / BoxPick -> Settings and set the number of required grasp points as well as the tolerance val-
ues for load carrier detection ("Parameters for LoadCarrier Detection") and gripping surface detection ("Clus-
ter Parameters").
2. Do NOT enter anything under "Regions of Interest".
3. The pick-up area (e.g. of a box) is defined under Load Carriers -> + Add a new Load Carrier. We recommend
measuring the pick-up area as accurately as possible (+/- 3 mm). Any applicable deviations, such as a curved
wall, can be specified under Parameters for LoadCarrier Detection.
Select: Try Out -> Detect Grasp Points
1. Set the suction cup size as well as the dimensions of the objects to be detected.
TIP: In the case of small or highly textured surfaces, we recommend setting a smaller suction cup size than
that actually employed.
2. Select the reference sizes ("Load Carrier" or "Gripper").
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