ROBOTIQ Wrist Camera Operation and maintenance manual

Original Notice
© 2019.Robotiq,Inc.
Robotiq Wrist Camera
for Universal Robots
InstructionManual

1. Table ofContents 3
2. Revisions 5
3. GeneralPresentation 8
3.1. VisionSystemComponents 8
4. Safety 12
4.1. Warning 12
4.2. Intended Use 14
5. Installation 15
5.1. Scope ofDelivery: Wrist Camera KitsforUniversalRobots 16
5.2. Required Toolsand Equipment 17
5.3. Environmentaland Operating Conditions 18
5.4. MechanicalInstallation 19
5.5. ElectricalSetup 21
5.6. Software 23
6. Snapshot Position 29
6.1. Launching the Calibrationand Snapshot PositionWizard 29
6.2. Choosing a CalibrationMethod 29
6.3. Saving the Snapshot Position 33
7. Object Teaching 35
7.1. GuidelinesonObject Teaching 35
7.2. TeachObject Wizard 37
8. CamLocate Node 94
8.1. Programming aCam Locate Loop 95
8.2. LinearMove withFeature 96
8.3. object_locationpose 97
8.4. Edit DetectionThreshold and Object Location 100
8.5. Using a Variable Snapshot Position 103
8.6. Auto Pick 105
8.7. Camera LocateSettings 106
9. ScanCode Node 108
9.1. Supported Typesof Codes 108
9.2. GuidelinesonReading Codes 109
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9.3. Using the ScanCode Node 109
9.4. StringsData StoredinCSVfiles 110
10. Find Visual Offset and ApplyVisualOffset Nodes, and
Defining Tags 111
10.1. Defining aTag 111
10.2. Using a Tagina Robot Program 112
10.3. Find Visual Offset Node 114
10.4. ApplyVisualOffset Node 115
11. Save Image Node 116
12. Specifications 118
12.1. MechanicalSpecificationsof Wrist Camera 119
12.2. Electricaland OpticalSpecificationsof the Wrist Camera 121
12.3. VisionSystem Specifications 122
13. Maintenance ofthe Wrist Camera 127
14. Spare Parts, Kitsand Accessories 128
15. Troubleshooting 129
16. Wrist Camera Warrantyand Patent 130
17. Wrist Camera Harmonized Standards, Declarationsand
Certificates EB
17.1. Declarationof Incorporation EB
17.2. IngressProtectionCertificate EC
18. Contact ED
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2.Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsor
changesin specifications.If suchmodification ismade,themanual will also berevised,seerevision information.Seethe
latest version of thismanual onlineat:robotiq.com/support.
2019-10-29
lModified appearanceof text boxes.
lAdded dynamiccross-referencesto sectionsof theInstructionManual.
lSection"Required Toolsand Equipment
lModified electrical ratingsshown inTable1-1: Robotiq Wrist Cameraand gripperpowersupplyrequirements
lUpdated recommended optional equipment
lSubsection"Snapshot Position":
lRewrotesubsectionwithamoredetailed workflow
lAdded screenshotsand printing specificationsforthecalibrationboard
lSection"Cam Locate Node":
lRenamed subsection"Settings" to "CameraLocateSettings"
lAdded typical use tipsforoptionsunderthe"CameraLocateSettings" window
lAdded "Autopick" subsection
lSection"ScanCode Node":
lAdded subsection"GuidelinesonReading Codes"
lAdded subsection"StringsData Stored inCSVfiles"
lSection"Intended Use": sincebarcodesand 2D codesisnowsupported bytheWrist Camera,URCap,removed asen-
tencethat mentionned it wasnot.
lSection"Object Teaching":removed all mentionsof the playbuttonand questionmarkbutton whichwereused to
accesscontextual help contents.Thiscontextual help hassince beenremoved from theWrist CameraURCap.
2019-10-24
lFixed numbering errorinTableof Contents.
lStreamlined instructionsin manyinstances,withlighterformatting.
2019-10-17
lRenamed section"Programming withtheCameraLocateNode" to "Cam Locate Node".
lAdded sections:
lSaveImage Node
lScanCodeNode
lFind Visual Offset and ApplyVisual Offset Nodes,and Defining Tags
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lAdded subsections:
lIn"Cam LocateNode"
lProgramming a Cam Locate Loop
lSettings
lIn"Snapshot Position"
lChooseCalibrationMethod
lAdded two SKUto section"SpareParts,Kitsand Accessories"
lACC-TAG-1BAG5
lACC-TAG-5BAG5 (partnersonly)
2019-05-08
Updated section5.GripperClearanceValidation feature added.
2019-03-07
Updated section5and all pertaining subsections;majorchangesto theCamerasettings.Align-to-axisand Alignover
featuresadded.
2018-09-10
Updated section 3,5and 6according to thePolyScopeversion of theuser(CB-Seriesvs.e-Series).
Updated section5and all pertaining subsections;major changesto theTeach object wizard (colorvalidation layer
masks,multiple object detection,e-Seriessupport).
2018-05-01
Updated section5and all pertaining subsections;major changesto theTeach object wizard
2018-03-26
Updated Section3.6.2 forUpdateand uninstall
2017-06-07
Updated Section3.6forURCap packageinstallation procedure
Updated Section4.2forcalibrationprocess
Updated Sections5.2,5.2.1,5.2.2,5.2.3fornewand improved teaching methods.
Added Section6.2to useadvanced programming withthevisionsystem.
Updated technical specifications(Section7.3).
Updated calibration board forUR5and UR10robots(Section4)
2016-11-16
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Updated specifications(section6)
Updated installationsinstructions(section4)
Added Troubleshooting instructions(section9.1)
2016-08-26
First release
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3.General Presentation
Theterms"Camera" and "Wrist Camera" used inthefollowing manual all referto theRobotiq Wrist Camera,while the
terms"Vision" and "Vision System" used in thefollowing manual all referto the Robotiq Wrist CameraVisionSystem for
Universal Robots.
TheVision System usesthe Robotiq Wrist Cameraand the Cam LocatesoftwareonUniversal Robotsto provide you
withasimpleobject teaching interface.
Theinterfaceallowsto set up theVision System so it canrecognize object locationsand orientationsautomatically.It
locatesoneobject at atimeon apredefined workplane,getstheobject position(x,y)and orientationalong thez-axis,
and allowsto operate therobot according to theobject location.The Wrist Cameraisdesigned forindustrial
applicationsincombination withRobotiq adaptivegrippers.
Info
Thismanual usesthe metricsystem.Unlessotherwisespecified,alldimensionsareinmillimeters.
Caution
Thefollowing sectionpresentsthekeyfeaturesof theproduct,and must not beconsidered asappropriateto
itsoperation.Product featuresaredetailed inrelevant sectionsof theInstruction Manual.
Read and understand safetyguidelinesbeforeattempting to use yourproduct.
3.1.VisionSystemComponents
Fig.3-1 belowdescribes the variouscomponents of the Robotiq VisionSystem for Universal Robots.Thissystem will use
theRobotiq Wrist Camera,used withanyof these mentioned Universal Robots versions(UR3,UR5,UR10).The system is
compatiblewiththeCB3.1controllerorlater,aswell aswithanye-Seriesreleases.Foralist of provided componentswith
yourRobotiq Wrist Camerakit forUniversal Robots,seesectionScopeofDelivery: Wrist Camera KitsforUniversal
Robotsonpage16.
Caution
TheRobotiq Vision System isonlycompatible withUniversal Robotswith arobot controller version CB3.1 or
later,aswell aswithanye-Seriesreleases.To identifyyourrobot controller,contact yourUniversal Robots
representative.
Fig.3-1:Schematicrepresentationof theRobotiq Wrist Camera VisionSystem hardware.
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And Now, Some Terminology
Robotiq Wrist Camera Automatic5Mpxcamerafitted withLED and madeforcollaborative
robots,either independentlyorwith anend-effector.
end-effector Tool incorporated to a robot arm via itstool flange.
robot arm Anycollaborative robot.
robot controller Computerthat controlstherobot,itsend-effectorand/orthird party
devices.
3.1.1.Snapshot Position andWorkspace
Fig.3-1 illustratesthe varioustermsused in thefollowing manual to describetheVision System'sSnapshot Positionand
workspace.The object locationprocesswill alwaysstart at the snapshot position,that position will determinethe field of
viewof theWrist Camerai.e.theworkspace.SeesectionSnapshotPositiononpage29fordetailsonhowto teachthe
snapshot position.
Fig.3-2:Schematicrepresentation of theRobotiq Vision System snapshot positionand workplane concepts.
And Now, Some Terminology
snapshotposition Robot poseused to takesnapshotswiththeWrist Camera.
workplane Areaof interest for theVision System.Fitsthefield of viewof theWrist
Camera.
object Object to locateusing theVision System.
calibrationboard Grid provided withthe Wrist Camera.Used inthecalibration processof
thesnapshot position.
Table3-1:Terminologyof theVision System.
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3.1.2.Object Location
To locate objects,theVision System usestheCam Locatenode detailed in section CamLocate Nodeonpage94.Fig.3-
3summarizesthisprocess.
Fig.3-3:Schematicrepresentationof theobject locationprocess.
And Now, Some Terminology
object to locate Object to locate using coordinatesx,y,and Rz(rotation).
camera locate relative frame Reference frame,asupdated bytheVisionSystem,used to locatean
object.
robot base reference frame Framecoordinatesdefined as[0,0,0].
Table3-2:Terminologyof theobject location process.
3.1.3.Wrist Camera
Thehardwareat the heart of theVision System istheRobotiq Wrist Camera illustrated in the .For installationinstructions,
sectionWristCamera on page10.
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Fig.3-4:Mainfeaturesof theWrist Camera.
Hardware Specifications
CMOS imagesensorwithliquid lens lResolution:0.3 to 5 Mpx
lFramerate: 2to 30FPS
lFocus: 70mm to ∞
6LED lDiffusewhitelight
lAutomaticcontrol
10-m high flexcable lUSB2.0
l24VDCpower
tool flange: ISO 9409-1:20044 X M6ø 50mmbolt
pattern lWrist Cameraismounted onthetool
flange
lGrippersaremounted ontheWrist
Camera
Table3-3:Somehardwarespecificationsof the Wrist Camera.
Info
TheRobotiq Wrist Cameraprovidesadirect mounting interface forgrippers,including a mechanical interface,
24Vpowerand gripper/robot communicationcapabilities.
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