Sensors

Sensors are used to detect the presence of parts, measure distances and even determine the type of a part.

sensors

Fine Rotation

All sensors include a gizmo which can be used to rotate around the local up axis (Left-click and drag). Alternatively, you can rotate a sensor or reset the rotation through the Context Menu.

rotation gizmo

Range

Sensor range can be manually set by Left-clicking and dragging the white circle gizmo (Capacitive, Inductive, Diffuse and Retroreflective sensors).

range gizmo

Capacitive Sensor

Proximity sensor used for close detection of any material. It is equipped with an LED, which indicates the presence of an object within its range. The output value can be digital or analog according to the selected configuration.

  • LED: green (detecting)
  • Detectable materials: solids and liquids.
  • Sensing range: 0 - 0.2 m

capacitive sensor

PartConfigurationTagI/OTypeDescription
Digital Capacitive Sensor # Input Bool Detecting.
Analog Capacitive Sensor # (V) Input Float [0, 10] V: distance between sensor and detected object.

Diffuse sensor

Diffuse photoelectric sensor which can detect any solid object.

  • LED: red (detecting)
  • Detectable materials: solids
  • Sensing range: 0 - 1.6 m

diffuse sensor

PartConfigurationTagI/OTypeDescription
N/A Diffuse Sensor # Input Bool Detecting.

Inductive Sensor

Proximity sensor used for close detection of conductive materials. It is equipped with an LED, which indicates the presence of an object within its range. The output value can be digital or analog, according to the selected configuration.

  • LED: red (detecting)
  • Detectable materials: conductive
  • Sensing range: 0 - 0.1 m

inductive sensor

PartConfigurationTagI/OTypeDescription
Digital Inductive Sensor # Input Bool Detecting.
Analog Inductive Sensor # (V) Input Float [0, 10] V: distance between sensor and detected object.

Light Array (Emitter and Receiver)

A set of parallel light beams used to create a sensing field. To ensure the synchronization of both devices (emitter and receiver), they must by properly aligned and facing each other. Once this alignment is guaranteed (indicated by a green LED), all beams can be interrupted without breaking the synchronization. Can be configured to work in Numerical, Digital or Analog mode.

  • Number of beams: 8
  • Range: 1.5 m
  • Detectable materials: solids
  • Analog value = 10 * number of interrupted beams / 8

light array

PartConfigurationTagI/OTypeDescription
Numerical Light Array # (Value) Input Integer Each integer bit represents a beam.
Digital Light Array # (Beam 1)InputBoolDetecting.
Light Array # (Beam 2)InputBoolDetecting.
Light Array # (Beam 3)InputBoolDetecting.
Light Array # (Beam 4)InputBoolDetecting.
Light Array # (Beam 5)InputBoolDetecting.
Light Array # (Beam 6)InputBoolDetecting.
Light Array # (Beam 7)InputBoolDetecting.
Light Array # (Beam 8)InputBoolDetecting.
Analog Light Array # (V) Input Float [0, 10] V: number of interrupted beams = V * 8 / 10.

Retroreflective Sensor and Reflector

Unlike the other sensors, the retroreflective sensor requires a reflector. To work properly, it must be aligned with the reflector. It is equipped with two LED which indicate the correct alignment (green) and detection status (yellow).

  • Green LED: aligned with reflector
  • Yellow LED: light beam not interrupted
  • Detectable materials: solids
  • Sensing range: 0 - 6 m

retroreflective sensor

SensorReflectorConfigurationTagI/OTypeDescription
N/A Retroreflective Sensor # Input Bool Light beam interrupted.

Vision Sensor

The Vision Sensor recognizes Raw Materials, Product Lids and Product Bases, and their respective colors.

  • LED: red (detecting)
  • Detectable materials: Raw Materials, Product Bases, Product Lids
  • Sensing range: 0.375 - 2 m

vision sensor

This sensor can be configured to detect more that one part type by selecting the proper configuration:

  • All Digital: return three digital inputs indicating which item was detected
  • All Numerical: return a value that encodes the detected item
  • All ID: returns a unique value that identifies the detected item. Can be used in a similar way to barcode or RFID readers.

Detected items are encoded according to the following table:

ItemConfiguration
All DigitalAll NumericalAll ID
Bit0Bit1Bit2ValueValue
None00000
Blue Raw Material1001ID
Blue Product Lid0102ID
Blue Product Base1103ID
Green Raw Material0014ID
Green Product Lid1015ID
Green Product Base0116ID
PartConfigurationTagI/OTypeDescription
Blue BaseVision Sensor #InputBoolDetecting.
Green BaseVision Sensor #InputBoolDetecting.
Blue LidVision Sensor #InputBoolDetecting.
Green LidVision Sensor #InputBoolDetecting.
Blue Raw MaterialVision Sensor #InputBoolDetecting.
Green Raw MaterialVision Sensor #InputBoolDetecting.
All Digital Vision Sensor # (Bit0)InputBoolItem encoding bit.
Vision Sensor # (Bit1)InputBoolItem encoding bit.
Vision Sensor # (Bit2)InputBoolItem encoding bit.
All NumericalVision Sensor # (Value)InputIntValue representing the detected item.
All IDVision Sensor # (ID)InputInt Unique integer (ID) that identifies an item, always positive. Note that item ID are not persistent between scene reset and load.