ROBOTIQ CNC Machine Tending Kit, Instruction Manual, Page: 101 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 6-22: Workplane reference frame.
The camera will detect an object on the workplane and find its X-Y position, as well as its Z-orientation in the workplane's coordinate
system (see figure below). Thus, a detected object is always laid flat (parallel) to the workplane. It is possible to use the object_location
pose, which is a variable containing the detected object's pose (p[x, y, z, x rotation, y rotation, z rotation]) in the robot's base reference
frame. This variable is updated each time the program goes within a Camera Locate node, thus every time an object is detected,
regardless of how many Camera Locate nodes are in the program. The object_location pose is relative to the robot's base frame.
Info
object_location is a variable containing the detected object's position and orientation relative to the base reference frame.
The orientation is always parallel to the workplane on which the calibration has been performed. Thus, the object's X and Y
axes are always parallel to the workplane. The Z axis is always normal to the workplane and points downwards from it, into
the workplane (refer to the figure below).
Fig. 6-23: object_location pose on the workplane used for the calibration.
object_location is a variable with the pose structure (x, y, z, x rotation, y rotation, z rotation):
x: x position of the object detected, relative to the robot's base reference frame.
y: y position of the object detected, relative to the robot's base reference frame.
z: z position of the object detected, relative to the robot's base reference frame.