ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 6-1: To enable fast cycle time, ambient lighting must be constant.
By enabling the fast cycle time configuration, the camera exposure will be set the first time the program enters a Cam Locate node – at
runtime. For others Cam Locatenodes, the Vision System retains exposure settings used in the first run. Enabling this option halves
cycle time.
Fast cycle
time
Behaviour of the Vision System Which to choose
Enabled
Exposure is set once for a first run, and reused in following
runs.
Halves cycle time. Ambient lighting must be stable.
Disabled Exposure must be set at every run.
More robust part detection under variable lighting con-
ditions.
Table 6-1: Fast cycle time configuration.
Fast Cycle Time
Enable the fast cycle time configuration only if the external ambient lighting is stable.
6.1.1. Programming a Cam Locate Loop
When you insert a Cam Locate node, it automatically insert If/ Else nodes, labelled as " For object(s) found)" and " If no object found" in
your robot program.
Fig. 6-2: Cam Locate Loop, " Process all" mode.
If you select the radio button Process one at a t ime from the " Cam Locate Loop" window, the node " For object(s) found" is renamed
to " For next object" .
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