ROBOTIQ RWC-UR-KIT, Instruction Manual

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Robotiq Wrist Camera Vision System for Universal Robots Instruction Manual
Robotiq inc. © 2016 4
1. General Presentation
The terms "Camera" and "Wrist Camera" used in the following manual all refer to the Robotiq Wrist Camera, while the term "Vision" and "Vision System"
used in the following manual all refer to the Robotiq Wrist Camera Vision System for
. This Vision System uses the Robotiq Wrist Camera Universal Robots
and the Camera Locate software on to provide you with a simple object teaching interface. This interface allows to set up the Vision Universal Robots
System so it can recognize objects location and orientation automatically. The Vision System, using the Camera Locate feature, is only designed to locate
one part at the time on a predefined workplane. It gets the part's position (x, y) and orientation along the z axis. It allows to operate the robot according to
the object location. The Camera is designed to work in industrial applications in combination with the Robotiq 2-Finger Adaptive Gripper.
Vision System components :
Figure 1.1 describes the various components of the Robotiq Vision System for Universal Robots. This system will use the Robotiq Wrist Camera, mounted
on any of the
(UR3, UR5, UR10) using a CB3.1 controller or greater. For a list of provided components with your Robotiq Wrist Camera kit Universal Robots
for please consult the section. UR Scope of Delivery
Figure 1.1: Schematic representation of the Robotiq Wrist Camera Vision System hardware.
Robotiq Wrist Camera: Described in details in sub-section Wrist Camera below.
End effector: Any tool mounted on the robot for it's application, the Wrist Camera is meant for direct integration of the Robotiq 2-Finger Adaptive
Gripper.
Universal Robot Arm: Any of the UR3, UR5 or UR10 model from
. Universal Robots
Universal Robot Controller: Controller model CB3.1 from Universal Robots.
Note
The following manual uses the metric system, unless specified,
. all dimensions are in millimeters
Note
The following section presents the key features of the Vision System and must not be considered as appropriate to complete operation, each
feature is detailed in the appropriate section of the manual. Safety guidelines must be read and understood before any operation is attempted with
the system.
Note
Robotiq Vision System is only compatible with
with controller CB3.1 and above, to identify your controller, please contact your Universal Robots U
representative. niversal Robots