ROBOTIQ CNC Machine Tending Kit, Instruction Manual

Page: 112 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 6-30: This robot program detects a tag, then uses nodes Find Visual Offset and Apply Visual Offset .
6.3.3. Find Visual Offset Node
This node is used to calculate by how much a tag was moved, in reference to its value as calibrated previously. The value of the offset
found by this Find Visual Offset node is temporarily saved, and you can reapply it in a Apply Visual Offset node. In the program shown
in Fig. 6-30, the condition " If tag found" is under the Find Visual Offset node. If no tag is found, no visual offset is applied to the robot
program. If a tag is found, a visual offset is applied, and the robot moves to take a closer picture (" close_tag_pos" ). A Find
Visual Offset node is run again at a close distance (recommended distance is 15 cm max). Then, the value of the offset found at this
step is used by an Apply Visual Offset node, which applies it to the " Call pick" routine (see lines 17-21 in the robot program shown in
Fig. 6-30).
Here is how to use the Find Visual Offset node.
112