ROBOTIQ Wrist Camera - Page 84

Wrist Camera Instruction Manual
Programming
The first thing to do after completing the object teaching is to add a Move node to the Snapshot position. When you exit
the object teaching wizard, the robot arm is already in the Snapshot position location. You can simply add a MoveJ
command before the Camera Locate node and set it to the location the robot arm is at (see Snapshot_pos_1 from the next
figure).
Caution
Make sure the robot arm is moved to the snapshot position before the Camera Locate node in the robot
program.
The Camera Locate node acts as an "if" statement. If the taught object is detected by the camera, the robot program will
enter in the Camera Locate node and execute all the command lines within it.
After teaching the object within the Camera Locate node, you may continue the programming by using either a linear move
(MoveL) with the snapshot position's variable as feature or the object_location pose. It is also possible to edit the
detection threshold or the saved object position after the Teach Object wizard.
l Refer to Section 6.1 to program a robot motion with a linear move (MoveL) with the snapshot position's variable as
feature. A template of this type of program is provided. This allows to perform robot motion relative to the object
detected at run time.
l Refer to Section 6.2 to use the object_location pose to program the robot motion - for advanced use.
l Refer to Section 6.3 to edit the detection threshold and/or the saved object position.
Cycle Time
The Camera Locate node cycle time is influenced by the background complexity, the object's features complexity
and the number of objects on the workplane.
To reduce the Camera Locate cycle time, consider the following:
l Have the least possible objects and object types on your workplane at run time.
l If your object has many detailed features, you can teach a drawing of it with simplified features or teach only
one area of the object.
l Have a diffuse ambient lighting, avoiding high light intensity spots on the workplane.
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