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Fig. 4-5: Three calibration methods.

Caution

You first need to perform a Full Calibration. Afterwards, you will be allowed to select any calibration method.

4.2.3. Performing 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 for UR5, UR10 and UR16 Universal Robots

models

Fig. 4-7: Calibration board for UR3 Universal Robots

models.

Info

Color dots are not currently used by Robotiq
software

Содержание RWC-CAM-001

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

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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_...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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

Страница 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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