ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 1-6: Hand-E fully opened with Fingertips Extender and
V-groove fingers.
1.3. Introduction to the Machine Tending Copilot
Force Copilot is a software package designed to use force and torque values read by a force-torque sensor (FT300), in support to
robotic applications. The collected data can then be leveraged for applications such as guiding robot hands, force control, assembly,
product testing, and much more. Force Copilot functionalities, such as the Visual Offset (using the optional Wrist Camera) and Contact
Offset nodes, help unlock the full potential of the CNC Machine Tending Kit.
Force Copilot requires a product license, which is stored on a license dongle provided with your Kit. The license dongle must remain
connected to your robot controller to use Force Copilot functionalities.
Fig. 1-7: Force Copilot license dongle.
1.4. Introduction to the Wrist Camera
The terms " Camera" and " Wrist Camera" used in the following Instruction Manual all refer to the " Robotiq Wrist Camera" , while the
term " Vision" and " Vision System" all refer to the " Robotiq Wrist Camera Vision System" for Universal Robots.
The Vision System uses the Robotiq Wrist Camera and the Cam Locate node on Universal Robots to provide you with a simple object
teaching interface.
The interface allows you to set up the Vision System so that it can recognize object locations and orientations automatically. The Vision
System, using the Cam Locate feature, is only designed to locate on object at a time on a predefined workplane. It gets the object
position (x, y) and orientation along the z-axis. You can then operate the robot based on the object location. The Wrist Camera is
designed for industrial applications, to be combined with Robotiq adaptive grippers Hand-E, 2F-85 and 2F-140.
1.4.1. Vision System Components
The figure below describes the various components of the Robotiq Vision System for Universal Robots. This system uses the Robotiq
Wrist Camera with any Universal Robots model using a robot controller model CB3.1 and up. For a list of provided components, see
the Scope of Delivery section of the Wrist Camera Instruction Manual.
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