ROBOTIQ Wrist Camera - Linear Move with Feature Template

Wrist Camera Instruction Manual
6.1. Linear Move with Feature – Pick and Place Template
Info
The URCaps installation will provide you with a template program, template_vision.urp, that can be found in the
program folder. The figure below shows this template. This section guides you through the process of doing a
similar program.
Once the Teach Object wizard is completed, you saved the last position of your object. The object position variable,
named after the snapshot position, now contains the reference frame of the object in this saved position. Each time the
Camera Locate node localizes an object, it updates that feature variable's frame with the new detected object's position
and orientation. That feature is named according to the feature name you chose during the snapshot position definition.
Saved position
The saved object position from the Teach Object wizard or the Test/Save wizard is the position of the object to
be used for the relative robot motion programming. Once the position is saved, do not move the object to ensure
proper robot motion programming within the Camera Locate node.
You can use that reference feature inside the Camera Locate node within Move commands of the robot. To do so:
l Insert a Move node.
l In that node, go to the Command tab.
l Select MoveL.
l Select the appropriate feature (your Snapshot Position / Feature name).
Every waypoints inserted within that MoveL node will be relative to the feature updated by the Camera Locate. Without
moving your object, teach your waypoints according to it's position.
When you are done with the movements relative to the object, you can insert another Move node, selecting a movement
that is not relative, but absolute (base frame), and do normal movements.
This process will give you:
l A set of MoveL movements relative to the object orientation.
l A set of MoveJ, MoveL or MoveP movements relative to the absolute base frame.
In short, the template program will move to the Snapshot Position, search for the object, do a set of movement relative to
the object orientation, then do a set of movement relative to the robot base. It is provided and installed with the Camera
Locate URCap.
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