ROBOTIQ Wrist Camera Manuale utente

Get the latest version of the manual at support.robotiq.com

Original Notice

Wrist Camera Vision System for CB-Series

Universal Robots

Instruction Manual

Wrist Camera Instruction Manual

Table of Contents

1. General Presentation 5

2. Safety 10

2.1. Warning 10

2.2. Intended Use 12

3. Installation 13

3.1. Scope of Delivery 14

3.1.1. Wrist Camera Kit for Universal Robots: 14

3.2. Required Tools and Equipment 15

3.3. Environmental and Operating Conditions 17

3.4. Mechanical Installation 18

3.4.1. Combo of 2-Finger Adaptive Gripper and Wrist Camera for Universal Robots 20

3.5. Electrical Setup 21

3.5.1. Power Supply 21

3.5.2. Cable Management 23

3.6. Software 23

3.6.1. Wrist Camera URCap Installation 24

3.6.1.1. Wrist Camera URCap Installation 24

3.6.2. Update and Uninstall 28

3.6.2.1. Version 1.1 and following 28

3.6.2.2. Version 1.0.2 and previous 30

4. Snapshot Position 31

4.1. Guidelines on Snapshot Position 33

4.2. Snapshot Position Wizard 34

4.3. Copy a Calibration 38

5. Object Teaching 39

5.1. Guidelines on Object Teaching 40

5.2. Teach Object Wizard 42

5.2.1. Automatic Method 44

5.2.1.1. Select Calibration 44

5.2.1.2. Select Model 45

5.2.1.3. Edit Model 56

5.2.1.4. Refine Model 61

5.2.1.5. Validate Model 62

5.2.1.6. Scan Model 63

5.2.2. Parametric Method 64

5.2.2.1. Circle 65

5.2.2.2. Ring 66

5.2.2.3. Rectangle 66

5.2.2.4. Square 67

5.2.3. Configure Model 68

5.2.3.1. Multiple objects detection 70

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Wrist Camera Instruction Manual

5.2.3.2. Color Validation 71

5.2.3.3. Detection thresholds and scores 76

5.2.3.4. Camera settings 81

5.2.3.5. Save location 81

6. Programming with the Camera Locate Node 82

6.1. Linear Move with Feature – Pick and Place Template 85

6.2. object_location pose 86

6.3. Edit Detection Threshold and Object Location 89

6.4. Camera Locate node at a variable Snapshot position 90

7. Specifications 92

7.1. Mechanical Specifications of Wrist Camera 93

7.1.1. Center of Mass and Moment of Inertia 94

7.2. Electrical rating & performance of Wrist Camera 96

7.3. Vision System Specifications 97

8. Maintenance 101

9. Spare Parts, Kits and Accessories 102

10. Troubleshooting 103

10.1. LED status 104

11. Warranty andPatent 105

12. Contact 107

A. Harmonized Standards, Declarations and Certificates DD

A1. Declaration of Incorporation DD

©Robotiq inc. 2016-2018 3

Wrist Camera Instruction Manual

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes

in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest

version of this manual online at: support.robotiq.com.

2018-09-10

Updated section 3, 5 and 6 according to the PolyScope version of the user (CB-Series vs. e-Series).

Updated section 5 and all pertaining subsections; major changes to the Teach object wizard (color validation layer masks,

multiple object detection, e-Series support).

2018-05-01

Updated section 5 and all pertaining subsections; major changes to the Teach object wizard

2018-03-26

Updated Section 3.6.2 for Update and uninstall

2017-06-07

Updated Section 3.6 for URCap package installation procedure

Updated Section 4.2 for calibration process

Updated Sections 5.2, 5.2.1, 5.2.2, 5.2.3 for new and improved teaching methods.

Added Section 6.2 to use advanced programming with the vision system.

Updated technical specifications (Section 7.3).

Updated calibration board for UR5 and UR10 robots (Section 4)

2016-11-16

Updated specifications (section 6)

Updated installations instructions (section 4)

Added Troubleshooting instructions (section 9.1)

2016-08-26

First release

©Robotiq inc. 2016-2018 4

Wrist Camera Instruction Manual

1. General Presentation

The terms "Camera" and "Wrist Camera" used in the following manual all refer to the Robotiq Wrist Camera, while the

term "Vision" and "Vision System" used in the following manual all refer to the Robotiq Wrist Camera Vision System for

Universal Robots.

The Vision System uses the Robotiq Wrist Camera and the Camera Locate software on Universal Robots to provide you

with a simple object teaching interface.

The interface allows to set up the Vision System so it can recognize object locations and orientations automatically. The

Vision System, using the Camera Locate feature, is only designed to locate one object at the time on a predefined

workplane. It gets the object's position (x, y) and orientation along the z-axis. It allows to operate the robot according to the

object location. The Camera is designed to work in industrial applications in combination with the Robotiq 2-Finger

Adaptive Gripper.

Note

The following manual uses the metric system. Unless specified, all dimensions are in millimeters.

Note

The following section presents the key features of the Vision System and must not be considered as appropriate

to complete operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must

be read and understood before any operation is attempted with the system.

Vision System components:

The figure below describes the various components of the Robotiq Vision System for Universal Robots. This system will

use the Robotiq Wrist Camera, mounted on any of the Universal Robots (UR3, UR5, UR10) using a CB3.1 controller or

greater. For a list of provided components with your Robotiq Wrist Camera kit for UR, please refer to the Scope of Delivery

section.

Caution

Robotiq Vision System is only compatible with Universal Robots with controller version CB3 and later, to identify

your controller, please contact your Universal Robots representative.

©Robotiq inc. 2016-2018 5

Wrist Camera Instruction Manual

Fig. 1-1: Schematic representation of the Robotiq Wrist Camera Vision System hardware.

lRobotiq Wrist Camera: Described in details in sub-section Wrist Camera below.

lEnd effector: Any tool mounted on the robot for its application, the Wrist Camera is meant for direct integration of the

Robotiq 2-Finger Adaptive Gripper.

lUniversal Robot Arm: Any of the UR3, UR5 or UR10 model from Universal Robots.

lUniversal Robot Controller: Controller model CB3 from Universal Robots.

©Robotiq inc. 2016-2018 6

Wrist Camera Instruction Manual

Snapshot Position & Workspace:

The figure below illustrates the various terms used in the following manual to describe the Vision System's Snapshot

Position and workspace. The object location process will always start at the Snapshot Position, that position will determine

the field of view of the Camera and thus the workspace. See the Snapshot Position section for details on how to teach the

Snapshot Position.

Fig. 1-2: Schematic representation of the Robotiq Vision System Snapshot Position and workspace concepts.

lSnapshot Position: the robot pose use to take snapshots from the Wrist Camera.

lWorkspace: the area of interest for the Vision System, it is defined by the Camera's field of view.

lObject: the object you want to locate using the Vision System.

lCalibration board: a grid provided with your Camera UR Kit used during the calibration process of the Snapshot

Position.

©Robotiq inc. 2016-2018 7

Wrist Camera Instruction Manual

Object Location:

The System will use the Camera Locate node described in the Programming with the Camera Locate Node section to

locate the object. The figure below represents the object location process. Please refer to the Programming with the

Camera Locate Node section for details on the object location process.

Fig. 1-3: Object location process schematic representation.

lObject to locate: The object you want to locate with coordinates X & Y and rotation Rz.

lCamera Locate relative frame: The reference frame updated by the Vision System to provide you with the

objectlocation.

lRobot base frame: The reference frame of the Universal Robot. Coordinate [0,0,0].

©Robotiq inc. 2016-2018 8

Wrist Camera Instruction Manual

Wrist Camera:

The hardware at the center of the Vision System is the Robotiq Wrist Camera illustrated in the figure below. Steps on how

to install the Wrist Camera are explained in the Installation section.

Fig. 1-4: Main features of the Wrist Camera.

Main features of the Robotiq Wrist Camera:

lCMOS image sensor with liquid lens:

lResolution: 0.3 to 5 Mpx;

lFrame rate: 2 to 30 FPS;

lFocus from 70 mm to infinity, automatic control.

l2 sets of 3 LEDs:

lIntegrated lighting with automatic control.

lSingle high-flex 10 meter pigtail cable:

lUSB 2.0;

l24V DC power.

lISO 9409-1-50-4M6 bolt pattern, both sides:

lDirect mounting on the UR;

lDirect mounting of the 2-Finger Adaptive Gripper on the Camera.

Info

The Robotiq Wrist Camera provides a direct mounting interface for the Robotiq 2-Finger Adaptive Gripper,

providing a mechanical interface, 24V power and communication to the Gripper.

©Robotiq inc. 2016-2018 9

Wrist Camera Instruction Manual

2. Safety

Warning

The operator must have read and understood all of the instructions in the following manual before handling the

Robotiq Wrist Camera Vision System for Universal Robots.

The term "operator" refers to anyone responsible for any of the following operations on the Wrist Camera Vision

System:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

This documentation explains the various components of the Vision System, as well as general operations regarding the

whole life-cycle of the product from installation to operation and decommissioning.

The drawings and photos in this documentation are representative examples and differences may exist between them and

the delivered product.

2.1. Warning

Note

Any use of the Vision System in noncompliance of these warnings is inappropriate and may cause injury or

damage.

Warning

The Wrist Camera Vision System used in human-robot collaboration must not be considered a complete safety

measure, additional dedicated safety device(s) must be considered. Vision System failure can occur and result in

danger for workers or machinery if not properly secured. See local or international safety measure for human-

robot collaboration.

Warning

©Robotiq inc. 2016-2018 10

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