ROBOTIQ CNC Machine Tending Kit, Instruction Manual

Page: 87 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 6-3: Cam Locate Loop, " Process one at a time" mode.
Fig. 6-4: The Cam Locate loop can operate on two different modes.
Process all
When this option is selected, the Wrist Camera takes one pitcture, and finds objects (their number can be changed when teaching the
object). Then, the robot program will carry out instructions under " For object(s) found" for all objects that have been found, and finally,
the Cam Locate Loop will be exited.
Process one at a time
When this option is selected, the Wrist Camera takes one picture, and finds objects (their number can be changed when teaching the
object). Instructions under " For next object" are carried out only once, the robot program exits the loop, and continues. When the Cam
Locate node is run once again, the robot program re-enters the loop, locating an object by using the picture that was first taken. When
all objects from the picture have been processed, the Cam Locate instruction takes a new picture to find new objects.
6.1.2. 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.
87