ROBOTIQ RWC-CAM-001, Инструкция по эксплуатации

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Wrist Camera - Instruction Manual
The Cam Locate node acts as an " if" statement. If the taught object is detected by the camera, the robot program enters in the Cam
Locate node and executes all command lines within it.
After teaching the object within the Cam Locate node, you may continue the programming by using either a linear move (MoveL) with
the Snapshot position variable as feature or the
object_location
pose. It is also possible to edit the detection threshold or the
saved object position after the Teach Object wizard.
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See Linear Move with Feature section to program a robot motion with a linear move (MoveL) with the Snapshot position variable as
feature. This allows to perform robot moves relative to the object detected at runtime.
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See object_location pose section to use an object_location pose with robot moves. For advanced users.
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See Edit Detection Threshold and Object Location section to edit the detection threshold and/ or the saved object position.
Cycle Time
The Cam Locate node cycle time is influenced by background complexity, object complexity , and how many objects are on
the work plane.
To reduce the Cam Locate cycle time, consider the following at runtime:
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Put fewer objects on the work plane.
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Limit number of object types.
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If your object has many detailed features, you can teach a drawing of it with simplified features or teach only one area of the
object.
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Use diffuse lighting, avoiding high light intensity spots on the work plane.
Enabling Fast Cycle Time
If ambient lighting is stable at runtime, you can enable the fast cycle time configuration. Go to the Installation tab > Camera >
Configurations, and select Enable fast cycle time.
Fig. 4-61: To enable fast cycle time, ambient lighting must be constant.
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