SmartComponent: Pick & Place simplified

Pavel Riabichev

Hi all!

Try my new SmartComponent "PickAndPlace" which enables you to quickly and simply set up a Pick & place simulation.

Description:

This component is a combination of Attacher, detacher, collision sensor and timer combined with codeBehind. The picked object will be attached as it collides with the tool and dropped as it collides with the "Object to drop on." If the checkbox "Use IO for Pick/drop" is used, the collision sensing will be disabled so the picked object will only be attached/detached when using the Pick/Drop input. It is possible to set groups containing multiple objects as "Object to drop on" and "Object to pick."

Properties:

Tool (ProjectObject) - Attachment parent

Object to pick (IAttachableChild) - Object to attach

Object to drop on (IAttachableChild) - Attached object will be detached as it gets in contact with this object

Pick/Place blocked duration (Double) - Re-attach will be blocked for this duration after placing an object, this gives time to move away from contact

Mount (Boolean) - Moves the object(local origin) to the attachment parent or TCP if it exists

Flange (Int32) - Mechanism flange or TCP to attach to

Offset (Vector3) - Position relative to the attachment parent

Orientation (Vector3) - Orientation relative to the attachment parent

Attached part (Part) - The part currently carried

Dropped on part (Part) - The part on which the carried object will be dropped  

Use IO for Pick/Drop (Boolean) - If checked, the component will stop sensing for collision and will instead only attach/detach when signal Pick/Drop is used

Inputs:

Active (Digital) - Set to high (1) to activate the component

Pick/Drop (Digital) - Will attach/detach object as this signal is set/reset

Outputs:

Executed attach (Digital) - Pulses high(1) when object is attached

Executed detach (Digital) - Pulses high(1) when object is detached

It can be found in RobotApps or RobotStudio add-ins tab.
https://robotapps.robotstudio.com/Details.aspx?fileId=8476beae-fd3b-4c6b-bb32-8a9dbb6fbdce

If you have any suggestions for improvements or found any bugs, you may report them in this thread.

(16-12-01) uploaded a new version PickAndPlace_v2 which has some new features. 
It is now possible to select a component group as "Object to pick." The tool will then pick up the first child it senses within that group.
Added 2 properties: 'Attached part' and 'Dropped on part'. These make it easier to attach the object to something that it was dropped on.

(17-02-16) uploaded a new version PickAndPlace_v3 
Fixed a bug that caused an error in the start of the simulation.

/Pavel