ROBOTIQ RWC-CAM-001, Инструкция по эксплуатации

Страница: 93 / 134

Wrist Camera - Instruction Manual
l
y rotation: y rotation from the robot's base frame to the detected object feature reference frame. The object's Y axis is parallel to the
workplane on which the calibration has been performed.
l
z rotation: z rotation from the robot's base frame to the detected object feature reference frame. The object's Z axis is normal to the
workplane on which the calibration has been performed, points downwards from it, into the workplane.
Object_location pose and TCP
If you move the robot's TCP to the object_location pose, the TCP will go and point 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 Example
The program examples below show how to use the
object_location
pose variable.The first one simply moves the robot so that
the TCP goes directly on the detected object. Make sure the TCP is set properly to avoid collisions.
Fig. 4-69: Program example - place the TCP on the detected object. CB-Series robot program is illustrated.
Fig. 4-70: Program example - place the TCP on the detected object. e-Series robot program is illustrated.
The second example moves the robot so that the TCP goes 20 cm above the detected object. This is in the case of an horizontal plane.
93