ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Linear Move with Feature
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 Cam Locate node.
You can use that reference feature inside the Cam Locate node within Move commands of the robot. To do so:
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Insert a Move node.
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In that node, go to the Command tab.
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Select MoveL.
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Select the appropriate feature (your Snapshot Position / Feature name).
Every waypoint inserted within that MoveL node will be relative to the feature updated by the Camera Locate.
Fig. 6-21: This MoveL is relative to feature " view_14x11" .
object_location pose
Once a snapshot position is defined, the workplane used for the calibration gets its own coordinate system, regardless of its
orientation. This coordinate system is shown in the figure below.
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