Sort Key

Found results will be sorted when multiple workpieces are found. On this item, select a parameter to use as the sort key from the drop-down box.
The following items are provided for the [Sort key] first drop-down box.

[Vision Process Level]
Targets are sorted based on a value such as X, Y, or Z which are calculated by the vision process.
[Parent Cmd. Tool Level]
Targets are sorted based on a measurement value such as Vt, Hz, the size, or the score of the parent locator tool.
[Child Cmd. Tool Level]
Targets are sorted based on a measurement value of the child tool, such as histogram or length measurement, placed under the locator tool.
When found results are to be sorted by the measurement results of a child tool added to a locator tool, such as a histogram, the child tool must be placed as the first child tool.
When there are multiple locator tools, and sorting by the results of child tools of the locator tools is to be performed, the results of the child tools can be used as the sorting key only when the first child tools of all locator tools are of the same type.

Some types of vision processes allows you to sort found results with the following methods. To use the following methods, select [Vision Process Level] for the [Sort key] first drop-down box.

[Min Path]
The shortest path sorting method sorts the found results to minimize the total (X, Y) distance traveled to send the robot to each result in sequence along a continuous path. If the robot has a multi-pick gripper that can pick up all of the parts, and if the parts are to be picked up with only (X, Y) offsets, this sorting option will minimize the length of the robot path.
[Min Path Angle]
The shortest path Theta sorting method sorts the found results to minimize the total (X, Y, Theta) distance traveled to send the robot to each result in sequence along a continuous path. The angle Theta is scaled such that a rotation of 180 degrees is equivalent to an (X, Y) displacement from the top left corner of the image to the bottom right corner of the image. If the robot has a multi-pick gripper that can pick up all of the parts, and if the parts are to be picked up with (X, Y) and rotation offsets, this sorting option will minimize the length and wrist rotation of the robot path.
[Model ID]
Change the order by the Model ID for with which locator tool the found parts were found.