Wrist Camera Instruction Manual
6.4. Camera Locate node at a variable Snapshot position
During a robot program, the robot must be at the snapshot position before entering the Camera Locate node. If it is not in
the right position, a pop-up will appear, preventing the camera from taking a snapshot from the wrong position. This is to
ensure good precision since the workplane has been previously calibrated for this snapshot position.
In some cases, it is helpful to move the robot to a variable position to enter a Camera Locate node. For instance, it can also
used to teach only one snapshot position and object to manage parts in stacked trays. In order to do so, allow the robot to
be in a different position that the original snapshot position by entering the script command:
ignore_snapshot_position = True
You also need to edit the snapshot_position_offset pose variable. This variable contains the pose offset between the
original saved snapshot position and the one used in the program .
The example shows a program using a Camera Locate node to manage parts in stacked trays.
l The script command in the BeforeStart section allows the camera not to be in the exact snapshot position when
entering a Camera Locate node.
l The pose at which the robot enters the Camera Locate node is calculated knowing how many trays are stacked.
l The snapshot_position_offset is calculated accordingly in order for the Wrist Camera to consider the pose offset from
the original snapshotposition.
Fig. 6-8: Program example.
ignore_snapshot_position = True
When using this method, make sure the workplane has the same orientation and distance regarding the position
of the camera before a Camera Locate node. Using a variable and relative snapshot position may decrease the
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