ROBOTIQ CNC Machine Tending Kit, Инструкция по эксплуатации

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Robotiq CN C M achine Tending Kit Instruction M anual
ignore_snapshot_position = True
When using this method, make sure the workplane has the same orientation and distance regarding the position of the
camera before a Cam Locatenode. Using a variable and relative snapshot position may decrease the precision, as the
workplane can be slightly different depending on where the calibration has been performed. Be aware of this when
programming a Cam Locate node relative to another one.
6.1.6. Auto Pick
The Aut o Pick functionnality is available after teaching an object with the Parametric method, and is used to accelerate adding pick
instructions.
Fig. 6-16: The Auto Pick functionnality becomes available after using an object using the Parametric method.
When you tap , some nodes are inserted in your robot programunder a MoveL node, as in the structure shown below:
l
MoveL
l
Approach Point
l
Pick Point
l
Comment (" Insert pick action" )
l
Retract Point
Basically, Auto Pick inserts a MoveL node based on the values you entered in the Parametric method when teaching the object. The
values of " Approach Point" and " Retract Point" are automatically inserted , and based on the values entered when teaching the object.
However, these two nodes have independent values.
The approach point added via the Auto Pick button will located over the object at its exact center. The distance between approach
point and object center is calculated based on the TCP value entered in the Teach Pendant for your hardware setup.
Here is a general view of the Auto Pick functionnality, and how it can be used in a robot program.
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