ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Option Description
Ignore Snapshot Position The robot won't be required to be at the Snapshot Position for the Cam Locate during the pro-
gram execution.
Move to Snapshot Position Whenever a picture must be taken by the Cam Locate, the robot will automaticallly move to
the snapshot position.
Ignore object rotation Use the located object's position, but not its orientation.
Fig. 6-19: These options can be used to reduce cycle time or to improve part detection.
Tips
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Ignore Snapshot Posit ion can reduce cycle time.
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Move t o Snapshot Posit ion can improve part detection.
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Ignore object rot at ion can reduce cycle time for round objects.
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Ignore Snapshot Posit ion and Move t o Snapshot Posit ion are mutually exclusive.
Fast Cycle Time
Enable the fast cycle time configuration only if the external ambient lighting is constant.
Programming
The first thing to do after completing the object teaching is to add a Move node to the Snapshot position. When you exit the object
teaching wizard, the robot arm is already in the Snapshot position location. You can simply add a MoveJ command before the Cam
Locate node and set it to the location the robot arm is at (see Snapshot_pos_1 from the next figure).
Caution
Make sure the robot arm is moved to the snapshot position before the Camera Locate node in the robot program.
The Cam Locatenode acts as an " if" statement. If the taught object is detected by the camera, the robot program will enter in the Cam
Locatenode and execute all the command lines within it.
After teaching the object within the Cam Locate node, you may continue the programming by using either a linear move (MoveL) with
the snapshot position's variable as feature or the object_location pose. It is also possible to edit the detection threshold or the saved
object position after the Teach Object wizard.
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Refer to Section 6.1 to program a robot motion with a linear move (MoveL) with the snapshot position's variable as feature. This
allows to perform robot motion relative to the object detected at run time.
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Refer to Section 6.2 to use the object_location pose to program the robot motion - for advanced use.
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Refer to Section 6.3 to edit the detection threshold and/ or the saved object position.
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