Wrist Camera Instruction Manual
4.2. Snapshot Position Wizard
Feature Point:
Prior to defining the Snapshot Position, the operator must define a feature point. To do so, from the Universal Robots
Polyscope interface:
l Start a new program or open yours, then go to the Installation tab.
l Go to Features.
l Tap Point to insert a new point feature.
l Select that point, check the Variable checkbox.
l Define that point position anywhere by tapping Set this waypoint, then tap OK, actual position does not mater.
l Tap Rename to give a significant name to your feature, that name will be used as a reference frame later on in your
program.
Info
Each Snapshot Position you teach will require its own Feature point.
Snapshot Position Wizard:
Snapshot Position is define using the Snapshot Position Wizard, from the Universal Robots Polyscope interface, still within
the Installation tab:
l Go to Camera.
l Go to the Snapshot Positions tab.
l In the drop-down list, select the Feature you wish to use.
l Tap Define to launch the wizard.
Wizard step 1: Define Snapshot Position
l Move the robot arm using the Freedrive to place the Wrist Camera.
l Remember the guidelines from the Guidelines on Snapshot Position section:
l Distance will determine field of view and size of objects to be located.
l Use the Show Grid to help you choose distance (object at least one cell).
l Camera view should be quasi perpendicular to surface.
l Once the robot arm is in a proper position, tap Save position. Wizard will go to next step.
Wizard step 2: Calibrate
l Place the appropriate calibration board in the field of view of the camera
l Remember to use the appropriate board, according to your robot model
l The board orientation should match the screen - landscape orientation
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