ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Cycle Time
The Cam Locate node cycle time is influenced by the background complexity, the object's features complexity and the
number of objects on the workplane.
To accelerate the Cam Locate cycle time, consider the following:
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Have the least possible objects and object types on your workplane at run time.
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If your object has many detailed features, you can teach a drawing of it with simplified features or teach only one area of
the object.
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Have a diffuse ambient lighting, avoiding high light intensity spots on the workplane.
Programming a Cam Locate Loop
A Cam Locate node can be used in one of two ways:
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Process all
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Process one at a time
Fig. 6-20: 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 will re-enter the loop once more, locating an object by using the picture that was first
taken. When all objects from the picture have been processed, the Cam Locate instruction will take a new picture to find new objects.
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