Clearances

Clearances#

This page explains how to configure Clearances in order 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 image area to verify that it is free. It is used, for example, to check that the space required by the gripper to pick the component is not occupied by other objects.

Note

Operating principle

The Clearance analyzes grayscale level variations inside a defined area:

  • 🟢 Green -> area free, OK for picking

  • 🔴 Red -> area occupied, obstacle present

Attention

The use of Clearances varies depending on the part for which the model is created. This evaluation is the responsibility of the person creating the application.

Step 1: Physical setup#

Danger

Warning The following procedure is shown using a gripper tool, because it requires mandatory Clearance configuration for the models. Other robot tools may not need Clearances to simulate their occupied area.

1

From the robot pendant:

  • select the frame and tool calibrated on FlexiVision One

  • move the last axis of the tool to zero rotation, Rz = 0°

2

Simulate a pick:

  • open the gripper

  • bring the robot tool over the component at surface level, as if grasping it

3

Position two objects on the sides of the gripper so that, once the robot is removed, the free areas between the reference component and the two objects remain visible.
These areas will represent the occupied space of the robot gripper.

Important

Leave the objects slightly farther away than strictly necessary to avoid errors during model creation, typically by 2 to 3 mm.

4

Note the coordinates:

  • save the coordinates of the robot last axis:

    • X, the X coordinate

    • Y, the Y coordinate

    • Rz, rotation around Z

Important

Write these coordinates down. They will be essential during robot calibration.

5

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

Step 2: Access the Clearance page#

6

From the Locator Model page, after clicking Next, the list of available Clearances opens, up to 8 per model.

Clearances page

Clearances page

Element

Description

Clearance 1…8

Available slots to create up to 8 different Clearances for the same model

Test (global)

Button used to test all enabled Clearances simultaneously

Next

Moves to the following phase, Robot Pick, after Clearance configuration

7

Click Clearance 1, opening the configuration page for the first Clearance

Clearance 1 page

Clearance 1 page

Parameter

Function

Enable Histogram

Activates this Clearance and makes it operational

Expression Builder

Tool used to configure detection thresholds automatically

Mean and Standard Deviation

Statistical values calculated on the selected area

Test

Immediate verification of Clearance operation

Result

Visual status indicator, Green = OK, Red = Triggered

Step 3: Activate and position the area#

8

Click Enable Clearance to activate the Clearance

9

Move the Clearance box to the area that must remain free

  • Typical cases: gripper picking area, one Clearance for each gripper side

  • Margins around the component

  • Robot transit zones

Important

Always consider these two important points:

  • When configured, the Clearance ROI must be completely free, with no objects, shadows, or artifacts

  • Always create a Clearance slightly larger than the strictly necessary space to avoid false errors

Failure to respect these two points may cause robot collisions, with possible damage to the FlexiBowl, components, or the robot itself.

Step 4: Automatic configuration#

10

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

11

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

12

Verify that the box turns green

13

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

Warning

What to do if the test fails, red box

If the box turns red after AUTO:

Possible causes:

  • Something is actually present in the area, such as a part, shadow, or dirt

  • Lighting changed between AUTO configuration and TEST

  • The selected area includes FlexiBowl edges or artifacts

Solutions:

  1. Visually verify that the area is completely free

  2. Repeat AUTO with stable lighting conditions

  3. Run TEST again to confirm the result

Multiple Clearances - when to use them#

Create multiple Clearances when:

  • The robot tool is a gripper, because one Clearance is needed for each of the two areas occupied by the gripper beside the reference component

  • There are multiple critical points to monitor

  • The pick area has particular geometries

Step 2-3: Repeat#

Select a new Clearance from the Clearances list page, such as Clearance 2, and repeat Steps 2 and 3. Repeat the procedure for every required Clearance, up to 8 per model.

Step 4: Complete test#

On the page listing all Clearances, click TEST to display and verify all enabled Clearances at the same time.

Status interpretation#

Clearance states#

Color

State

Meaning

🟢 Green

OK

Area free, picking possible

🔴 Red

Triggered

Area occupied, picking not possible

What does “Triggered” mean?#

A Clearance becomes red, triggered, when it detects inside the monitored area:

  • Presence of other components

  • Significant shadows or reflections

  • Any element that makes the area not free

Step 5: Finalization#

14

After configuring all required Clearances, click Next

15

The Robot Model Pick Cam page opens

See also

Proceed to Robot Calibration to complete the configuration.


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