ROBOTIQ RWC-CAM-001, Инструкция по эксплуатации

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4.3.1. Guidelines on Snapshot Position
During the Snapshot position process, ambient light must be of approximately 500 lux. At run-time, this condition is not required.
Snapshot position used for teaching objects may be different than the one used in production. However, camera angles and distances
should be similar.
For example, conveyor areas are often hard to reach, causing object scanning issues. You can use a convenient area for object model
teaching that will allow easy scanning. It is always possible to modify the final light and threshold adjustments at the runtime area. Set
as
True
the variable
ignore_snapshot_position
.
For best results when choosing your Snapshot position, follow these recommendations:
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Work plane
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Mostly uniform color
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Flat
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Contrasts your part. For details, see Vision System Specifications section.
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Distance to work plane
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Your Snapshot position determines the field of view of the Wrist Camera, and thus, the work plane.
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For details on field of view and parts size, see Vision System Specifications section.
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Moving closer to the work plane reduces workspace, but makes it easier to locate smaller objects.
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Moving away from the work plane increases workspace and widens the area where objects can be detected, but makes it
more difficult to locate smaller objects.
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Wrist Camera viewing angle
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Wrist Camera should be perpendicular to work plane.
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Select a Snapshot position giving an overhead view of the object to locate, and setting a Snapshot position to locate objects
from the side.
4.4. Object Teaching
Once the Snapshot position is defined, the operator can use the Cam Locate node within a Universal Robots program to teach an
object to locate.
Requirements
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You must have completed the installation steps..
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Have in hand a few samples of the object to teach or its CAD file.
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