6. Self Practice

Task

Detect and pick up a mahjong block, then place it into the small board for mahjong blocks. A Landmark will be placed on the board. The positions of both the mahjong block and the board are not fixed. After the flow ends, the project must exit the execution screen by itself. Every task after this should also exit automatically.

Verification

1. The mahjong block position is not fixed. Check whether the arm can accurately pick it up. It is recommended not to rotate the block more than 180°.
2. The board position is not fixed. Check whether the arm can accurately place the mahjong block into a slot. It is recommended not to rotate the board more than 180°.
3. After the flow ends, check whether it automatically exits the project execution screen.

Answer

1. Point (Robot Base): set a Point at the initial position. It should be high enough to avoid collisions when moving to the vision task position.
2. Vision (Positioning, Robot Base): move above the mahjong block area, set an Object Positioning vision task, and recognize the TM logo on the mahjong block. This automatically creates Vision Base.
3. Point (Vision Base): move the arm down above the mahjong block to a position where it can grip the block. Do not move the mahjong block. You can use and the controller + and - for fine adjustment.
4. Set: set end module DO_0 to H, then press Output Test to grip the mahjong block.
5. Wait for: wait 500 ms to ensure the block is gripped.
6. Move: set Z to -100 mm so the arm will not collide. This step can also be replaced with another vertical-up Point.
7. Point (Robot Base): move to a higher position to prepare for the board vision task.
8. Vision (Positioning, Robot Base): move above the small board, set a TM Landmark vision task, and recognize the Landmark on the board. This automatically creates Vision Base.
9. Point (Vision Base): move the arm onto the board and align the gripped mahjong block with one board slot. Do not move the mahjong block. You can use and the controller + and - for fine adjustment.
10. Set: set end module DO_0 to L, then press Output Test to release the mahjong block.
11. Wait for: wait 500 ms to ensure the block is released.
12. Move: set Z to -100 mm so the arm will not collide. This step can also be replaced with another vertical-up Point.
13. Point (Robot Base): set a Point at the ending position.
14. Stop

Small Tip

For every Vision Miss, you can connect it to a Goto node and loop it back to that Vision.