ROBOTIQ CNC Machine Tending Kit, Инструкция по эксплуатации

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Robotiq CN C M achine Tending Kit Instruction M anual
Cam Locate Node at a Variable Snapshot Position
During a robot program, the robot must be at the snapshot position before entering the Cam Locate node. If it is not in the right
position, a pop-up will appear, preventing the camera from taking a snapshot from the wrong position. This is to ensure good precision
since the workplane has been previously calibrated for this snapshot position.
In some cases, it is helpful to move the robot to a variable position to enter a Camera Locate node. For instance, 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 position by entering the script command:
ignore_snapshot_position = True
You also need to edit the snapshot_position_offset pose variable. This variable contains the pose offset between the original saved
snapshot position and the one used in the program .
Info
Please note that the arguments of the snapshot_position_offset parameter are expressed in the robot base reference frame.
The example shows a program using a Cam Locate node to manage parts in stacked trays.
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The script command in the BeforeStart section allows the camera not to be in the exact snapshot position when entering a Cam
Locate node.
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The pose at which the robot enters the Cam Locatenode is calculated knowing how many trays are stacked.
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The snapshot_position_offset is calculated accordingly in order for the Wrist Camera to consider the pose offset from the original
snapshot position.
Fig. 6-26: Program example.
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