Clearances

Clearances#

In this page we will see how to configure Clearances to verify that critical areas are free from obstacles.

What is a Clearance? A Clearance in FlexiVision One is a tool that monitors a specific area of the image to verify that it is clear. It is used to check, for example, that the space required for the gripper to grasp the component is not occupied by other objects.

Note

Operating Principle.

The Clearance analyses greyscale changes in a defined area:

  • 🟢 Green → Area clear (OK for picking)

  • 🔴 Red → Area busy (presence of obstacles)

Attention

The use of Clearances varies according to the part whose model is being made. This assessment is the responsibility of the person in charge of creating the application.

Step 1: Physical Setup#

Danger

Caution! We will show you the procedure with the Gripper Tool, as it requires the configuration of Clearances for models. Other Tools for the robot may not need the Clearances to simulate the footprint.

1

From the robot pendant:

  • Select the frame and tool calibrated on FlexiVision One

  • Bring the last axis of the tool to zero rotation (Rz = 0°)

2

Simulate a pick:

  • Open the gripper

  • Bring the robot tool onto the component at surface level, as if to grasp it

3

Place two objects at the sides of the gripper to have, once the robot is removed, clear areas between the reference component and the two objects. They will represent the robot gripper’s footprint areas.

Important

Leave the objects slightly farther apart than necessary to avoid errors when creating the model. (2-3 mm margin)

4

Record the coordinates:

  • Save the coordinates of the robot’s last axis:

    • X (X coordinate)

    • Y (Y coordinate)

    • Rz (rotation around Z)

Important

Record these coordinates! They will be essential during the robot calibration phase.

5

Move the robot away with the pendant without moving anything on the surface

Tip

If you have any doubts during configuration, please consult the INFO key on the current page.

Step 2: Accessing the Clearance page#

6

From the Locator Model page, after clicking Next, the list of available clearances (up to 8 per model) will open.

Clearances Page

Clearances Page

Element

Description

Clearance 1…8

Slots available to create up to 8 different clearances for the same model

Test (global)

Button to simultaneously test all enabled clearances

Next

Advance to next step (Robot Pick) after clearance configuration

7

Click Clearance 1, the page for configuring the first clearance “Clearance 1” will open

Clearance 1 Page

Clearance 1 Page

Parameter

Function

Enable Clearance

Activates this clearance and makes it operational

Expression Builder

Tool to automatically configure detection thresholds

Mean and Standard Deviation

Statistical values calculated on the selected area (mean and standard deviation of greyscales)

Test

Immediate verification of clearance operation

Result

Visual status indicator (Green = OK, Red = Triggered)

Step 3: Area Activation and Positioning#

8

Click Enable Clearance to activate the clearance

9

Move the frame of the Clearance to the area that is to remain clear

  • Typically: gripper picking area (one clearance per gripper picking area)

  • Margins around the component

  • Robot passage zones

Important

Always keep these two important aspects in mind:

  • Clearance ROI, when configured, must be completely clear (i.e. free of objects, shadows, artefacts)

  • Always create a clearance slightly larger than strictly necessary to avoid false errors.

Failure to comply with these two points could lead to robot collisions resulting in damage to the FlexiBowl®, components or the robot itself.

Tip

If you have any doubts during configuration, please consult the INFO key on the current page.

Step 4: Automatic Configuration#

10

Click ../../../_images/tasto_AUTO.png in Expression Builder

11

Click ../../../_images/tasto_TEST.png

12

Check that the box turns green

13

Click ../../../_images/tasto_next.png

Warning

What to do if the test fails (red box)?

If after AUTO the box turns red:

Possible causes:

  • There is actually something in the area (part, shadow, dirt)

  • The lighting has changed between AUTO and TEST configuration

  • The selected area includes edges of the FlexiBowl® or artefacts

Solutions:

  1. Visually check that the area is completely clear

  2. Repeat AUTO with stable lighting conditions

  3. Repeat TEST to verify

Tip

If you have any doubts during configuration, please consult the INFO key on the current page.

Multiple Clearances - When to Use Them#

Create more clearances when:

  • The robot tool is a gripper: a clearance is needed for each of the two areas engaged by the gripper on either side of the reference component

  • There are several critical points to monitor

  • The picking area has particular geometries

Step 2-3: Repetition#

Select a new clearance from the Clearance list page, such as “Clearance 2” and repeat Steps 2-3. Repeat the procedure for each clearance required (up to 8 per model).

Step 4: Overall Test#

On the list page of all clearances, click TEST to view all clearances at once

Clearances Page#

Interpreting States#

Clearance States#

Colour

Status

Meaning

Image

🟢 Green

OK

Area clear, picking possible

🔴 Red

Triggered

Area engaged, picking not possible

What does “Triggered” mean?#

A clearance turns red (triggered) when it detects inside:

  • Presence of other components

  • Significant shadows or reflections

  • Any element that makes the area not clear

Step 5: Finalisation#

14

After configuring all necessary clearances, click ../../../_images/tasto_next.png

15

The Robot Model Pick Cam page will open

See also

Proceed to Robot Calibration to complete configuration.


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