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Wrist Camera - Instruction Manual

Updated technical specifications (Section 7.3).

Updated calibration board for UR5 and UR10 robots (Section 4)

2016-11-16

Updated specifications (section 6)

Updated installations instructions (section 4)

Added Troubleshooting instructions (section 9.1)

2016-08-26

First release

Summary of Contents for RWC-CAM-001

Page 1: ...Robotiq Wrist Camera for Universal Robots Instruction Manual robotiq com leanrobotics org Original Notice 2020 Robotiq Inc...

Page 2: ...e Snapshot Position 31 4 4 Object Teaching 32 4 5 TeachObject Wizard 34 4 6 Cam Locate node 86 4 7 ScanCode node 103 4 8 Using the Scancode Node 105 4 9 Find and ApplyVisual Offset nodesand Defining t...

Page 3: ...10 1 Declarationof Incorporation 132 10 2 ngressProtectionCertificate 133 11 Contact 134 3...

Page 4: ...specifications for the calibration board l Section Cam Locate Node l Renamed subsection Settings to Camera Locate Settings l Added typical use tips for options under the Camera Locate Settings window...

Page 5: ...to axis and Align over features added 2018 09 10 l Updated section 3 5 and 6 according to the PolyScope version of the user CB Series vs e Series l Updated section 5 and all pertaining subsections maj...

Page 6: ...cifications Section 7 3 l Updated calibration board for UR5 and UR10 robots Section 4 2016 11 16 l Updated specifications section 6 l Updated installations instructions section 4 l Added Troubleshooti...

Page 7: ...without prior written consent from Robotiq Under copyright law copying includes translation into another language or format Information provided by Robotiq in this document is believed to be accurate...

Page 8: ...The Wrist Camera is designed for industrial applications in combination with Robotiq adaptive grippers Info This manual uses the metric system Unless otherwise specified all dimensionsare inmillimete...

Page 9: ...d effector and or third party devices 1 1 1 Snapshot position and Workspace The figure below illustrates the various terms used in the following manual to describe the Vision System s Snapshot Positio...

Page 10: ...Wrist Camera Used in the calibration process of the snapshot position 1 1 2 Object Location To locate objects the Vision System uses the Cam Locate node The figure below represents the process Fig 1 3...

Page 11: ...FPS l Focus 70mm to 6 LED l Diffuse white light l Automatic control 10 m high flex cable l USB 2 0 l 24 VDC power Tool flange ISO 9409 1 2004 4 X M6 50mm bolt pattern l Wrist Camera is mounted on the...

Page 12: ...llation l Control l Maintenance l Inspection l Calibration l Programming l Decommissioning This manual covers the various components of the Robotiq Wrist Camera and the general operations regarding th...

Page 13: ...ng a program make sure that neither obstacles nor people are in the robot path l All local safety measures and or laws on robot operation must be applied to the Vision System l Avoid looking straight...

Page 14: ...and or national laws regulations and directives on automation safety and general machine safety The unit may be used only within the range of its technical specifications Any other use of the product...

Page 15: ...nvironmental conditions l Do not operate the Vision System or even turn on the power supply before the device is firmly anchored and the machine area is cleared Make sure that the air supply is secure...

Page 16: ...2 Required Toolsand Equipment l The following tools are required to install the Wrist Camera o 2 mm slotted screwdriver to perform terminal block connections when wiring l Provided tools with the Wris...

Page 17: ...ICATION VALUE Output voltage 24 V DC 10 Output current 2 A Overcurrent Recommended power supply with internal protection otherwise fusing is required 4 A fuse at 25 C 77 F 1 Table 3 1 Robotiq Wrist Ca...

Page 18: ...be free from powerful electromagnetic interference Environment must be free from corrosive or explosive liquids or gases Table 3 2 Environmental and operating conditions for the Wrist Camera 3 4 Mech...

Page 19: ...for this assembly M6 screws to mount an end effector on the Wrist Camera are not provided Use M6 screws of appropriate length to secure end effector on robot arm Caution When mounting only a Wrist Cam...

Page 20: ...elow 1 Place the Wrist Camera RWC CAM 001 on the robot arm Align the Wrist Cameradowel pin with tool flange 2 Mount Wrist Camera on tool flange using the provided screws and lockwashers 3 Mount grippe...

Page 21: ...and the gripper Wiring setups are identical whether you use the Wrist Camera alone or with an End Effector Power and communication are established with the Wrist Camera via the 10 m high flex cable It...

Page 22: ...to the 4 port USB hub Tip Wrist Camera grounding is optional and is done via the robot ground The Wrist Camera dowel pin acts as ground connector 3 5 3 Cable Management Warning Use proper cabling man...

Page 23: ...done see Electrical Setup section Mechanical Installationsection Make sure your Universal Robots software is up to date The Wrist Camera URCap is compatible with Polyscope 3 9 and later versions Tip F...

Page 24: ...m For e Series 1 Tap Settings System URCaps and select Robotiq_Wrist_Camera X X X urcap from the USB stick 2 Tap and wait for Polyscope to reboot 3 Tap Installation URCaps Camera Dashboard 4 Check sta...

Page 25: ...Vision System Testing the Installation After the installation has been completed follow these instructions to check that the Vision System works as expected For CB Series 1 From a robot program go to...

Page 26: ...l the URCap 7 Tap to complete the uninstall process The robot controller reboots 8 Connect to a PC the 16 Gb USB stick containing the URCap and Vision Server 9 Format USB stick in FAT32 format 10 See...

Page 27: ...Format USB stick in FAT32 format 13 See Software section to install the latest software 4 2 Snapshot Position Prior to teaching objects with the Cam Locate URCap node the operator must define a Snaps...

Page 28: ...g a Full Calibration 1 Place the calibration board ACC CALIB BOARD on theWrist Camera work plane Select the appropriate side for your Universal Robots model see figures below Fig 4 6 Calibration board...

Page 29: ...board is 357 mm x 278mm Print as Ledger Tabloid or A3 formats l Use matte paper l The calibration board can be printed with colors gray scale or black and white l Do not scale the image l After print...

Page 30: ...d the calibration board and the Vision System will take 27 pictures of the calibration board from different poses during 7 10 minutes Then 9 more pictures are taken for validating 4 The Verify Camera...

Page 31: ...s position represents the coordinates and orientation of the Wrist Camera when using its nodes When you are done tap Save Position Once the calibration has been accepted the Snapshot position appears...

Page 32: ...ecificationssection l Distance to work plane l Your Snapshot position determines the field of view of the Wrist Camera and thus the work plane l For details on field of view and parts size see VisionS...

Page 33: ...tails l Top surface is mostly flat l Object has a distinctive shape highly contrasts the background is asymmetrical and distinctive features e g holes drawings contrasting colors l Object has a matte...

Page 34: ...he robot program follow these instructions CB Seriesmodels 1 Start a new program or open yours then go to the Program tab 2 Tap the Structure tab URCaps Cam Locate e Seriesmodels 1 From the ribbon tap...

Page 35: ...ith one of its features l Parametricmethod builds a model based on parameters of a basic 2D shape circle ring square or rectangle This method is faster and allows the vision system to recognize and lo...

Page 36: ...ust be defined to launch the object teaching wizard If no Snapshot position has been defined see Snapshot Positionsection Selecting a Calibration Tap the Calibrationyou want to use Info If the robot i...

Page 37: ...d then position the object on the background By default the Select Model step displays the object to teach automatically selected by the software meaning a green selection rectangle overlaps the shape...

Page 38: ...l is enabled by default The Magic Wand feature allows to locate objects on the background without user intervention Info For the automatic area selection feature to function properly the user has to e...

Page 39: ...Manual Area Selection Select an area by tapping the screen and dragging your finger over the object in the selection area Fig 4 13 Select Model step with Manual area selection feature Tip The manual a...

Page 40: ...display all the views Standard View When in standard view mode the camera feed displays a reasonably faithful image based on what is normally perceived by the human eye colored object on colored back...

Page 41: ...a convenient tool that can be used to better understand the quality of the image and the object contrast and to improve adjustments made to the selection Machine Color View The Machine color view disp...

Page 42: ...ps to understand the color signature and scale used by the system Intensity view The intensity view displays the quality of illumination and uniformity of the vision system Fig 4 17 Select Model step...

Page 43: ...ection for more details Camera Exposure setting see Software section for more details Camera Focussetting see Software section for more details Camera White Balance setting see White Balance section f...

Page 44: ...nce Automaticmode White Balance Manual mode Plusbutton increases a value Minusbutton decreases a value Reset button the setting is reinitialized Please refer to the specific setting sec tion for more...

Page 45: ...o the Auto and Off settings the Manual mode provides a Camera LED s intensity adjustment The touch sensitive slider can be used to select the right intensity more easily a b c Fig 4 18 Select Model st...

Page 46: ...to avoid reflexions a b Fig 4 19 Select Model step with Exposure option enabled a 3EV and b 3EV For more control the Manual mode allows the user to directly modify the exposure or the gain and keep t...

Page 47: ...enabled Automatic and Manual modes enabled It is possible to reduce or eliminate camera image flicker also seen as vertical moving bands by matching camera exposure time with illumination frequency S...

Page 48: ...se exposure time before increasing gain Info The exposure value EV represents a combination of exposure time and digital gain Simply put increase EV to make images brighter Focus Info Focus features c...

Page 49: ...the focus until sharpness and or contrast is achieved This type of automatic focus requires enough contrast between the object and the background for it to render an appropriate image Manual Focus Fig...

Page 50: ...ate colors and better defined shades of grey It is always in Automatic but manual setting can be done by clicking on the Manual button In this mode three sliders each representing a different color re...

Page 51: ...d object ZoomingIn Fig 4 25 Select Model step with Zoom in button highlighted In order to zoom in on the selection area the user has to tap the magnifier with a plus symbol in the lower right corner o...

Page 52: ...out from the selection area the user has to tap the magnifier with a minus symbol in the lower right corner of the teach pendant interface Accepting the model To accept the model and proceed to the n...

Page 53: ...Wrist Camera Instruction Manual Summary of Camera Settings 53...

Page 54: ...ls Rectangle selectionaround object please refer to the Software section for more details Markertool please refer to the Software section for more details Erasertool please refer to the Software secti...

Page 55: ...sts and edge detection 2 Outline surface The Outline surface selection tool is used to highlight the contour and upper surface of the object Tap the middle button This tool is selected by default when...

Page 56: ...on of the model 2 Eraser The eraser tool can be used to ignore features and edges in the selection area Slide your finger or pointing device on the undesired area s on the teach pendant The object lay...

Page 57: ...ct as the first step in the next phase of the teaching process Refine Model Refining the Model The Refine Model step prompts the user to take photos of the model in four different orientations The pur...

Page 58: ...take the second picture of the object 3 Object turned another 90 degrees clockwise The user is prompted to take the third picture 4 Object turned another 90 degrees clockwise The user is prompted to t...

Page 59: ...ressing the Accept button or go through the Refine Model step again by tapping the Retake button Check the following l Object contours and detected features are outlined in green l Features from the m...

Page 60: ...Configure Model step Please refer to the Configure the model section for more information Accepting the model When the view of the model selected is satisfactory and you wish to carry on with the teac...

Page 61: ...oose the geometry that corresponds to the object to detect and define its parameters l Circle l Ring l Rectangle l Square When using the Parametric method to teach an object the Autopick functionnalit...

Page 62: ...which the circle is located Tap the Define button Fig 4 32 Definition of a circle 2D shape Ring Enter the ring outer diameter D inner diameter d and the height h at which the ring is located Tap the D...

Page 63: ...ap the Define button Fig 4 34 Definition of a rectangle 2D shape Square Enter the square length l and the height h at which the square is located Fig 4 35 Definition of a square 2D shape When the proc...

Page 64: ...5 5 CAD model method 1 Import the CAD model file Caution Make sure that the imported file is in the DXF R12 format 2 Click the Import button and select the DXF R12 file Fig 4 36 CAD model imported 64...

Page 65: ...e sure to adjust the height Tip The height mesure must be in mm Fig 4 37 CAD model imported with its added height When the process is done the wizard will switch to the Configure Model step Please ref...

Page 66: ...onsection for more details Gripper Clearance Validation button tap to open the Gripper Clearance Validation menu A gripper button with a red cross mark indicates that the color validation mode has not...

Page 67: ...object position Set position button accessible via the Command tab of the Program Robot interface in Polyscope once the Teach object wizard is completed Tap to re define a new reference position for t...

Page 68: ...tap Fig 4 38 Configure Model with multi object button highlighted Once in the multi object menu tap the plus symbol to increase the maximum number of objects to detect or tap the minus symbol to reduc...

Page 69: ...tween two colors in the same Camera Locate node no matter what the purpose is However this action can be performed and programmed with two or more Camera Locate nodes in the same program tree Color va...

Page 70: ...t features and edges to include and keep in the color sampling area Slide your finger or pointing device on the desired area s on the teach pendant A green layer mask will be applied to the highlighte...

Page 71: ...hat will highlight available features 4 Garbage can Tapping the garbage can icon will clear the object layer mask thus deleting the selection area Info The validation routine of the camera is performe...

Page 72: ...Edges Score for a a blue part b a red part Parametric method 1 Tap the color validation button to access the color validation menu Fig 4 44 Configure Model Step Parametric method with color validatio...

Page 73: ...the system color validation is supported via an expendable shrinkable color selection zone on part with the contour of the object to be located Tap the plus icon to expand the color selection zone and...

Page 74: ...rner to expand the detection threshold settings Fig 4 47 Configure Model Step with detection thresholds highlighted After adjusting the detection thresholds if applicable the user can test the locatio...

Page 75: ...outlined in red Info In the context of multiple objects detection each object detected has its own set of detection score values When performing the localization test place the whole object over the...

Page 76: ...t is possible to edit the detection threshold To do so select the Camera Locate node and go to the Command tab Click on Test Modifyto edit the threshold and or modify the position of the object Color...

Page 77: ...Wrist Camera Instruction Manual Fig 4 50 Multiple objects found each with their selection rectangles and detection scores 77...

Page 78: ...in the picture will be disregarded Info To set up Gripper Clearance Validation you can align objects horizontally This will optimize conditions for zooming and drawing the area which in turn will spe...

Page 79: ...ance Validation tap the red button on the right side of the screen Fig 4 52 Edit Collision Validation with ON OFFbutton highlighted 3 Adjust the clearance area with the available tools and tap the che...

Page 80: ...clearance area for collision detection purposes Slide your finger or pointing device on the desired area s on the teach pendant Toggle between object collision detection by selecting either the Model...

Page 81: ...ected area is shown as green on screen 5 Gripperarea The Gripper area button adds or removes the clearance required for a gripper to pick up an object The collision detection area is shown as red on s...

Page 82: ...nce Validation tap the red button on the right side of the screen Fig 4 55 Edit Collision Validation screen Toggle button is highlighted 3 Set the required clearance around the object using the plusan...

Page 83: ...verification While the program is running it is possible to see if there is enough clearance around the parts seen by the wrist camera Here are the steps to follow to get this information One Seriesr...

Page 84: ...the clearance verification OnCB Seriesrobots 1 Tap on the Installationtab at the top of the screen 2 Select Camera tab in the left pane of the screen 3 Select Camera menu Fig 4 58 Path to follow to ha...

Page 85: ...settings Warning Camera settings can be adjusted at the Select Model step of the Automatic teaching method and orat the Configure Model step of the Teach object wizard Editing the camera settings at...

Page 86: ...est Modifyto change the detection threshold or both the threshold and the saved object position 4 6 Cam Locate node The Cam Locate node is used to teach objects Once an object is taught through the Ca...

Page 87: ...ection to use an object_location pose with robot moves For advanced users l See Edit DetectionThreshold and Object Locationsection to edit the detection threshold and or the saved object position Cycl...

Page 88: ...must be stable Disabled Exposure must be set at every run More robust part detection under variable lighting con ditions Table 4 2 Fast cycle time configuration Fast Cycle Time Enable the fast cycle...

Page 89: ...have been found and finally the Cam Locate Loop will be exited Processone at a time When this option is selected the Wrist Camera takes one picture and finds objects their number can be changed when t...

Page 90: ...n The saved object position from the Teach Object wizard or the Test Save wizard is the position of the object to be used for the relative robot motion programming Once the position is saved do not mo...

Page 91: ...ane and find its X Y position as well as its Z orientation in the work plane coordinates system see the figure below Thus a detected object is always laid flat parallel to the work plane It is possibl...

Page 92: ...relative to the robot s base reference frame l y y position of the object detected relative to the robot s base reference frame l z z position of the object detected relative to the robot s base refer...

Page 93: ...the object on the workplane The height value of the object on the workplane should not be taken into account the TCP might be directly on the object when moving it to the object_location pose Program...

Page 94: ...eries robot program is illustrated Fig 4 72 Program example Place the TCP 20 cm above the detected object in case of an horizontal plane e Series robot program is illustrated Info A statement called I...

Page 95: ...oth the detection threshold and the object location after the Teach object wizard has been completed Tap Cam Locate Command Test Modify Fig 4 73 The taught object model can be viewed from the Command...

Page 96: ...osition window is displayed l Move object to its new position To take the new picture tap To confirm this new position tap A warning mes sage is displayed to prompt you to confirm this new position To...

Page 97: ...Wrist Camera Instruction Manual l Tap to exit the wizard l To modify only the detection threshold modify it and test it 97...

Page 98: ...nstance it can also be used to teach only one snapshot position and object to manage parts in stacked trays In order to do so allow the robot to be in a different position that the original snapshot p...

Page 99: ...Wrist Camera Instruction Manual Fig 4 74 Program example using Universal Robots CB Series models Fig 4 75 Program example using Universal Robotse Series models 99...

Page 100: ...sing the Parametricmethod When you tap some nodes are inserted in your robot program under a MoveLnode as in the structure shown below l MoveL l Approach Point l Pick Point l Comment Insert pick actio...

Page 101: ...d using the Auto Pick button Tip For a smoother experience using Auto Pick modify teach pendant options under Installation URCaps Camera Configurations Check the following radio buttons l Enable autom...

Page 102: ...e 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 Table 4 3 These options c...

Page 103: ...l 4 7 Scan Code node 4 7 1 Supported Typesof Codes The Scan Code node is used to read various types of barcodes and 2D codes QR Datamatrix PDF417 Code Image Type Aztec Datamatrix QR PDF 417 Code 93 EA...

Page 104: ...st Camera l However code should not fill the field of view entirely Some whitespace must be left around its edges Moving the Wrist Camera away from the code should increase its field of view and provi...

Page 105: ...cable code type To navigate pages for additional code types use and 4 Put code on workplane then tap or retry by tapping if you are not satisfied with the result Save your code by tapping Tip You can...

Page 106: ...If you choose to save your data loc ally you can use a USB stick to do so The data will be stored in a CSV file You can also use the string value during a pro gram Its value is stored in variable rq_...

Page 107: ...ce you can teach robot moves which are relative to this tag position In other words you can first teach the tag position then teach moves and even if your tray was moved your robot program will compen...

Page 108: ...etect the tag 7 Define FarCamera position A far camera position have to be defined considering all the possible tag locations l The recommended Distance and Angle are i Farposition 200 to 350 mm ii An...

Page 109: ...ance click on the button Tip l On the top right click on the button to display the Translationand the Spherical joysticks so you can move the robot in real time l The Spherical joystick is available o...

Page 110: ...tive Camera position Use the same method as previously described for the Far Camera position above l The recommended Distance and Angle are i Close position 100 to 200 mm ii Angle Farorclose 50 to 70...

Page 111: ...ted and captured click on Save Finishto complete the Tag Creation 4 9 2 Tag set and edition To edit or set the tag go to Installation URCaps Camera Tags Caution Edit allows you to change the camera po...

Page 112: ...ose to Go to Snapshot Positionor Define newSnapshot position i If you click on button the robot will move to the position before switching to the menu ii If you click on button it will directly switch...

Page 113: ...f you want to or 4 9 3 Using a Tag in a Robot program Once a tag has been defined you can start creating your robot program The tag can serve as a reference point for moves in your program Even if the...

Page 114: ...o 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 dista...

Page 115: ...er this Apply Visual Offset node in the program As a best practice this node should be preceded by the condition If tag found Otherwise if no tag is found with the Find Visual Offset node the Apply Vi...

Page 116: ...for your Apply Visual Offset node 4 A Tag is selected for the Apply Visual Offset node After inserting this node into your robot program create the rest of your program under the Apply Visual Offset n...

Page 117: ...ect data e g for barcodes that could not be read or when no object is detected using a Cam Locate node or as a quality assurance tool to document difficulties and improve your process in the future Th...

Page 118: ...ains specifications for the RobotiqWrist Camera l Mechanical Specifications section l Dimensions l Maximum load l Center of mass l Moment of inertia l Electrical and Optical Specifications section l E...

Page 119: ...40 Nm Weight no tool plate 160 g Weight with tool plate 230 g Added height no tool plate with a 2 Finger Adaptive Gripper 13 5 mm Global thickness no tool plate 22 4 mm Added height with tool plate 2...

Page 120: ...hich correspond to the Universal Robots tool flange reference 0 0 0 Here is the approximate position for the Center of mass It has been calculated for the Wrist Cameraitself and for combinations with...

Page 121: ...Camera Values are approximated Fig 5 2 The Wrist Camera center of mass without and with tool plate 5 2 Electrical and Optical Specifications Robotic User Interface recommends you supply power to the W...

Page 122: ...s 2560 X 1920 Maximum frame rate 30 fps at 0 3 Mpx 640 X 480 Active array size 2592 X 1944 Focus range 70 mm to Integrated lighting 6 LED diffuse white light Autofocus technology Liquid lens Table 5 5...

Page 123: ...3mm UR10 3mm Fig 5 3 Accuracy of the vision system 5 3 2 Calibration Board Position Fig 5 4 Calibration board position Specifications Value UR3 UR5 UR10 UR16 Minimum board distance cm 26 34 42 34 Maxi...

Page 124: ...360 x 270 646 640 x 480 1030 1000 x 750 Minimum 70 100 x 75 70 100 x 75 70 100x 75 Table 5 6 The field of view of the Wrist Camera varies based on robot reach Workplane surface to camera distance con...

Page 125: ...st not be higher than its smallest dimension width or length maximum of 1 1 ratio Fig 5 6 Maximum part height Info Part height ratio is taken between the maximum part height at any point and the minim...

Page 126: ...e colors that are apart horizontally on the HSV cone shown below Therefore a change in value intensity only does not represent a good contrast There has to be a great difference in hue and saturation...

Page 127: ...ime Depending on your application you should occasionally clean the work plane more or less regularly Caution If you change your work plane background after the teaching process this could lead to a d...

Page 128: ...and hub and all hardware RWC UR KIT Replacement Wrist Camera Includes 10 m pigtail cable RWC CAM 001 Wrist Camera tool plate for ISO 9409 1 50 4M6 pattern Universal Robots RWC TOOL 062 Replacement cal...

Page 129: ...Click on Start camera to start the Vision server The output image will appear and the LED will turn blue Check the USB cable connection and the software package versions Solid blue and red at the same...

Page 130: ...l published specifications Robotiq will charge standard verification fees The unit is considered defective when at least one of the following conditions occurs l The Camera does not output any image l...

Page 131: ...ter lightning or other acts of nature causes external to the Wrist Camera the Vision System or other factors beyond Robotiq s control Robotiq reserves the right to make changes in the design or constr...

Page 132: ...1 0 Harmonized Standards Declarationsand Certificates 1 0 1 Declaration of Incorporation Wrist Camera Instruction Manual...

Page 133: ...1 0 2 ngressProtection Certificate 133...

Page 134: ...2788 Outside USand Canada Technical support and engineering option 3 Sales option 2 Head office Robotiq 966 chemin Olivier Suite 500 St Nicolas Qu bec G7A 2N1 Canada Where automationProscome to share...

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