ROBOTIQ RWC-UR-KIT User manual

© ROBOTIQ INC. 2016
Get the latest version of the manual at support.robotiq.com

Table of Contents
Robotiq inc. © 2016 2
Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1. General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1 Scope of Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2 Required Tools and Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3 Environmental and Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5 Electrical Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.6 Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.6.1 Vision Server Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.6.2 URCaps Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.6.3 Uninstall and Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4. Snapshot Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.1 Guidelines on Snapshot Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.2 Snapshot Position Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5. Object Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.1 Guidelines on Object Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.2 Cam Locate Node & Teach Object Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2.1 Part Contours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.2.2 Detection score & threshold setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.3 Programming with a Cam Locate Node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.1 Mechanical Specifications of Wrist Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.1.1 Center of Mass and Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.2 Electrical rating & performance of Wrist Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
6.3 Vision System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7. Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8. Spare Parts, Kits and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1 LED status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
10. Warranty & patent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
11. Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
A. Harmonized standards, declarations and certificates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

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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: .http://support.robotiq.com/
2016-11-16
Updated specifications (section 6)
Updated installations instructions (section 4)
Added Troubleshooting instructions (section 9.1)
2016-08-26
First release

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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 . This Vision System uses the Robotiq Wrist CameraUniversal Robots
and the Camera Locate software on to provide you with a simple object teaching interface. This interface allows to set up the VisionUniversal Robots
System so it can recognize objects location and orientation automatically. The Vision System, using the Camera Locate feature, is only designed to locate
one part at the time on a predefined workplane. It gets the part'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.
Vision System components :
Figure 1.1 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 (UR3, UR5, UR10) using a CB3.1 controller or greater. For a list of provided components with your Robotiq Wrist Camera kitUniversal Robots
for please consult the section.UR Scope of Delivery
Figure 1.1: Schematic representation of the Robotiq Wrist Camera Vision System hardware.
Robotiq Wrist Camera: Described in details in sub-section Wrist Camera below.
End effector: Any tool mounted on the robot for it's application, the Wrist Camera is meant for direct integration of the Robotiq 2-Finger Adaptive
Gripper.
Universal Robot Arm: Any of the UR3, UR5 or UR10 model from .Universal Robots
Universal Robot Controller: Controller model CB3.1 from Universal Robots.
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.
Note
Robotiq Vision System is only compatible with with controller CB3.1 and above, to identify your controller, please contact yourUniversal Robots U
representative.niversal Robots

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Snapshot Position & Workspace :
Figure 1.2 illustrates the various terms used in the following manual to describe the Vision System 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 forsection 4
details on how to teach the Snapshot Position.
Figure 1.2: Schematic representation of the Robotiq Vision System Snapshot Position and workspace concepts.
Snapshot Position: the robot pose use to take snapshots from the Wrist Camera.
Workspace: the area of interest for the Vision System, it is defined by the Camera's field of view.
object: the object you want to locate using the Vision System.
Calibration board: a grid provided with your Camera UR Kit used during the calibration process of the Snapshot Position.

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Object Location :
The System will use the Camera Locate node described in section 5 to locate the object. Figure 1.3 below represents the object location process. See secti
for details on the object location process.on 5
Figure 1.3: object location process schematic representation.
Object to locate: The object you want to locate with coordinates X & Y and rotation Rz.
Camera Locate relative frame: The reference frame updated by the Vision System to provide you with the object location.
Robot base frame: The reference frame of the Universal Robot. Coordinate [0,0,0].

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Wrist Camera :
The hardware at the center of the Vision System is the Robotiq Wrist Camera illustrated in figure 1.4. Steps on how to install the Wrist Camera are
explained in .section 3
Figure 1.4: Wrist Camera main features.
The Robotiq Wrist Camera main features:
CMOS image sensor with liquid lens:
Resolution: 0.3 to 5 Mpx;
Frame rate: 2 to 30 FPS;
Focus from 70 mm to infinity, automatic control.
2 sets of 3 LEDs:
Integrated lighting with automatic control.
Single high-flex 10 meter pigtail cable:
USB 2.0;
24V DC power.
ISO 9409-1-50-4M6 bolt pattern, both sides:
Direct mounting on the UR;
Direct 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.

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2. Safety
This document explains the various components of the Vision System, as well as general operations regarding the whole lifecycle of the product; from
installation to operation and decommissioning.
The drawings and photos in this document are representative examples and differences may exist between them and the delivered product.
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 and associated robot or
tools :
Installation
Control
Maintenance
Inspection
Calibration
Programming
Decommissioning

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2.1 Warning
Note
Any use of the Vision System in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
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
The Camera needs to be properly secured before operating the robot.
Do not install or operate a Camera that is damaged or lacking parts.
Never supply the Camera with an alternative current.
Make sure all cord sets are always secured at both ends, at the Camera and at the robot.
Always respect the recommended keying for electrical connections.
Be sure no one is in the robot and/or Camera path before initializing the robot's routine.
Always respect the Camera payload.
All local safety measures and/or laws on robot operation must be applied to the Vision System.
Any use of the Vision System in noncompliance with these warnings is inappropriate and may cause injury or damage.

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2.2 Intended Use
The Vision System is designed to locate objects laying flat on the defined workspace. The system can identify and locate multiple kind of objects, each
object will require it's own part teaching process as explained in . The Vision System gets the part's position (x, y) and orientation along the z axis.section 5
It allows to operate the robot according to the object location.
The product is intended for installation on a model UR3, UR5 or UR10 using CB3.1 controller only.Universal Robots
The unit may be used only within the range of its technical data. Any other use of the product is deemed improper and unintended use. Robotiq will not be
liable for any damages resulting from any improper or unintended use.
Tip
Section 4.1 will give you advice on what workspace should be usde or avoided. will give you advice on what objects can be located orSection 5.1
not along with background recommendations.
Caution
The Vision System is NOT intended for:
Metrology
Bar-code / QR code reading
Note
Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety.