ROBOTIQ RWC-CAM-001, Инструкция по эксплуатации

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Wrist Camera - Instruction Manual
Data is presented in the following order: TimeStamp, CodeType, CodeData. Data element s are separated by commas.
Data Element Description
TimeStamp Records the year, month, date, hour, minutes, seconds, and seconds decimals at which the code was
read.
CodeType Records which type of code was read.
CodeData Records a string read from a code.
4.9. Find and Apply Visual Offset nodes and Defining tags
The Wrist Camera Visual Offset capabilities are based on two nodes: Find Visual Offset and Apply Visual Offset. By attaching a
Robotiq tag to a fixture (a tray, for instance), 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 compensate its move
commands, first by finding out by how much the tray was displaced (using the node Find Visual Offset). This value is stored, then
applied to moves under the node Apply Visual Offset subprogram.
4.9.1. Tag creation and definition
1. Attach a tag to any surface. It is a reference feature for your robot program. The back of the tag has adhesive bands to help
attach it.
2. Move your robot to a position from which the Wrist Camera can fully see the tag.
3. If you have not calibrated the Wrist Camera, please do so now.
4. Go to Installation > URCaps > Camera > Tags.
5. Click on to create a Tag.