MpPickCore with Intermediate movements between pick and place

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Greetings all.

I intend to use the MpPickCore in my Pick & Place application. I’m using a Codian D4 700 delta and mappVision for cameras.

Based on what I’ve read and performed on the Getting Started, it’s clear to me how to set up the functionality. However, I could not find any information on whether it’s possible to perform other operations between the pick and place movement.

My system consists of the following workflow:

  1. A camera (mappVision) will take a picture of the bottle on the conveyor belt to identify the X and Y. The orientation cannot be done during this time, due to the way the bottles come and the shape of the bottle.
  2. Then it’ll create the pick register for X and Y.
  3. The Delta will pick the bottle on the conveyor belt, then move to the orientation detection frame.
  4. This frame has a camera (mappVision) positioned below the frame to take a picture of the bottom of the bottle to identify the orientation.
  5. After take the picture, it must offset the orientation.
  6. Then move to the place register and deliver the register object.

With the PickCore, I understand that I can perform steps of picking and placing, but the intermediate one that I explained above, I’m not sure if it’s possible to do with the MpPickCore.

Can I perform all of these tasks using the MpPickCore, or will I need to go towards a self-code solution?

Thanks in advance!!!

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@Frederico_Mantovani

Thanks for your question but unfortunately MpPick customization options are rather limited.

For that reason we have greatly expanded on the core solution called ConveyorTracking based on TrackingPath which is the underlying functionality MpPick uses as well.

Please take a look at the Getting Started - mapp Robotics Conveyor Tracking Solution which is like the Getting Started for MpPick a ready to use AS6 project.
The project is the product of the steps described in the help here.

The Community GitHub (filter by “mapprobotics” ) also contains a few more sample projects that also include tracking based on mappVision or one project with 5 different use cases.
Please take a look at the those samples and let us know if something is missing or not quite helping with the implementation of your solution.

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