ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Caution
The Robotiq Vision System is only compatible with Universal Robots models using a controller version of CB3.1 and up, as
well as with any e-Series releases. To identify your controller version, contact your Universal Robots representative.
Fig. 1-8: Schematic representation of the Robotiq Wrist Camera Vision System hardware.
More details on the Wrist Camera are available in subsection Wrist Camera, as well as in the product Instruction Manual.
1.4.2. Snapshot Position and Workspace
The figure below illustrates the various terms used in the following Instruction Manual to describe the Vision System concepts of
" snapshot position" and " workspace" . The process to locate an object always starts from a snapshot position. That position defines
the field of view of the Wrist Camera, what we call the workspace. See the " Snapshot Position" section of the Wrist Camera Instruction
Manual on how to teach a snapshot position.
Fig. 1-9: Schematic representation of the Robotiq Vision System concepts of snapshot position and workspace.
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