Warning

You are reading the documentation for an older Pickit release (2.0). Documentation for the latest release (3.4) can be found here.

Object ordering

This setting defines in which order the objects are returned to the robot.

  • Highest product center: Sort objects with highest product center first. This is the most common option.

  • Lowest product center: Reverse ordering from ‘Highest product center’.

  • Highest product part: Sort objects with highest volume or surface boundary first.

  • Lowest X value first: Orders objects based on object center position. From small to large X value.

  • Highest X value first: Reverse ordering from ‘Lowest X value first’.

  • Lowest Y value first: Orders objects based on object center position. From small to large Y value.

  • Highest Y value first: Reverse ordering from ‘Lowest Y value first’.

  • Biggest product: Objects are ordered from big to small volume or surface.

  • Pattern along the positive X-axis: See image below.

  • Pattern along the negative X-axis: See image below.

  • Pattern along the positive Y-axis: See image below.

  • Pattern along the negative Y-axis: See image below.

  • Highest matching score (Teach only): Sort objects with the highest model matching score first. This only works for the Teach detection

  • Top box first: Sort objects with the highest product center first, but if multiple sides of a box are recognized, the bigger side is prefered instead of the smaller.

The pattern sort options are useful for depalletization or pallet loading applications. The picture below illustrates each option:

../../_images/Object-ordering-pattern.png