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
Robotiq Wrist Camera Instruction Manual
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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
Robotiq Wrist Camera Instruction Manual 4

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.
Robotiq Wrist Camera Instruction Manual 8

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.
Robotiq Wrist Camera Instruction Manual 10

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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4.Safety
Warning
Operatorsmust read and understand all instructionscontained in thismanual priorto operating theWrist
Camera.
Info
Operatorsare responsibleforthefollowing operationsonthedevice:installation,control,maintenance,
inspection,calibration,programming,decommissioning.
ThisInstructionManual presentscomponentsof theVisionSystem,and general operationsregarding thewholelife-
cycle of theproduct through installation,operation,and decommissioning.
Drawingsand photosinthisInstructionManual aretypical examples,and theactual product maydiffer.
4.1.Warning
Caution
Please complywithwarningscontained in current document.Anyotherusesare inappropriate and maycause
injuryordamage.
Warning
TheWrist CameraVision System used in human-robot collaboration must not beconsidered a complete
safetymeasure,additional dedicated safetydevice(s)must beconsidered.Vision System failure canoccur and
result in dangerfor workersormachineryif not properlysecured.Seelocal orinternational safetymeasure for
human-robot collaboration.
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Warning
lSecured theWrist Camerabeforeoperating the robot.
lDo not install oroperate aWrist Camerathat isdamaged or lacking parts.
lOnlysupplydirect current to the Wrist Camera.
lMakesureall cordsaresecured at boththeWrist Cameraand therobot levels.
lAlwaysrespect the recommended keying for electrical connections.
lBeforerunning aprogram,make sure that neitherobstaclesnor peopleareintherobot path.
lAll local safetymeasuresand/or lawsonrobot operationmust be applied to theVision System.
lAvoid looking straight at theLED whentheyareturned on,asthismaycausedazzlement.
lAnyuse of theVision System innoncompliance withthese warnings isinappropriate and maycause injury
or damage.
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4.2.Intended Use
TheVision System isdesigned to locate objects laying flat on thedefined workspace.Thesystem canidentifyand locate
multiple kind of objects,eachobject willrequireitsownobject teaching processasexplained insectionObjectTeaching
onpage35.TheVision System getsthe object's position(x, y)and orientation along thezaxis.It allowsto operate the
robot according to the object location.
Tip
sectionGuidelinesonSnapshotPositionon page34will give youadviceonwhat workspaceshould beused
oravoided.sectionObject Teaching onpage35 will giveyouadviceonwhat objectscanbelocated ornot,
including recommendationsonusing backgrounds.
Caution
TheVision System isnot intended formetrologyapplications.
Note
Alwayscomplywithlocal and/ornational laws,regulationsand directivesonautomationsafetyand general
machine safety.
Theunit maybeused onlywithinthe rangeof itstechnical specifications.Anyotheruse of theproduct isdeemed
improper and unintended use.Robotiq will not beliablefor anydamagesresulting from any improperor unintended
use.
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5.Installation
Thissectioncoversthefollowing topics.
lTo verifyyourWrist Camerapackage,seesectionScopeofDelivery: Wrist Camera KitsforUniversalRobotson page
16.
lForalist of required hardwareforyourWrist Camera,seesectionRequired Toolsand Equipment onpage17.
lDetailsontheoperating rangeof theWrist Cameracanbe found insectionEnvironmentaland Operating Conditions
onpage18.
lTo find out howto mount yourWrist Cameraonyourrobot,seesectionMechanicalInstallationonpage 19.It also
includesinformation oncoupling it withanotherend-effector.
lDetailsonelectrical wiring and specifications,aswell astipsoncablemanagement,are provided in sectionElectrical
Setup onpage21.
lTo install yourWrist Camerasoftware,seesectionSoftware onpage23.
Warning
Beforeinstalling :
lRead and understand thesafetyinstructionsrelated to theVision System.
lVerifyyourpackageaccording to thescopeof deliveryand yourorder.
lHavethe required parts,equipment and toolslisted inthe requirementsready.
Warning
Wheninstalling :
lMeet the environmental conditions.
lDo not operate theVision System,oreventurnonthepowersupply,beforetheWrist Cameraisfirmly
secured,and the dangerzone is cleared.
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5.1.Scope of Delivery: Wrist CameraKitsforUniversal Robots
5.1.1.RWC-UR-KIT
IncludestheWrist Cameraand required hardware.
lRobotiq Wrist Camerawith10-m highflexcableRWC-CAM-001
lUniversal Robotspatterntool plateRWC-TOOL-062
l16Gb USBstickACC-USB-16G
lUSBsoftwarelicense dongleACC-USB-DONGLE
l4-port USBhub ACC-USB-4-HUB
lCalibration board ACC-CALIB-BOARD
lColored background forobject teaching ACC-TEACH-BACK
lHardwarekit to mount theWrist Camerato Universal Robots.
5.1.2.CUR-AGC-085-RWCorCUR-AGC-140-RWC
Includesa2-Finger AdaptiveRobot Gripperand aWrist Camera.
lWrist CameraKit forUniversal Robotsincludes:
lRobotiq Wrist Camerawith10-m highflexcableRWC-CAM-001
l16Gb USBstickACC-USB-16G
lUSBsoftwarelicense dongleACC-USB-DONGLE
l4-port USBhub ACC-USB-4-HUB
lCalibration board ACC-CALIB-BOARD
lColored background forobject teaching ACC-TEACH-BACK
lHardwareto mount theWrist Camerato robots.
lGripperparts:
lBasicGripperunit (85or140)AGC-GRP-002or-140(depending onselected combo)
lScrewsto mount gripperonWrist Camera.
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5.2.Required Toolsand Equipment
Thefollowing toolsare required to install theWrist Camera:
l2 mm slotted screwdriverto perform terminal blockconnectionswhen wiring.
Provided toolswith theWrist Camera:
l4 mm hexkeyto mount the Wrist Cameraona Universal Robotsmodel.
Optional toolsif installing withCUR-AGC-085-RWC orCUR-AGC-140-RWC:
lNone.Usetheprovided 4 mm hexkey.
Thefollowing partsarerequired forsetup:
lA Universal RobotsUR3,UR5orUR10model,along withitscontroller
Warning
OnlycompatiblewithcontrollerversionCB3.1and later.
lUniversal RobotsPolyScope version must be 3.9orlaterin order to install theURCap.
lPowersupplyif not using a Universal Robotscontroller supply(seebelow);
lFuse,seeinformationbelow.
TheWrist Cameraneedsto besupplied byaDCvoltagesource.Thispowersupplyisnot included withtheWrist
CameraKit for Universal Robots.Required powersupplymust match theRobotiq device.Thefollowing tableshowsthe
specificationswithregardsto thepowersupplyrequired to operatetheWrist Cameraand theoptional Robotiq gripper.
SPECIFICATION VALUE
Output voltage 24VDC±10%
Output current 2A
Overcurrent Recommended powersupplywithinternal protection,
otherwisefusing isrequired.
4A fuseat 25°C[77°F]1
Table5-1:Robotiq Wrist Cameraand gripperpowersupplyrequirements.
Info
1Suggested fuse isa:PhoenixContact # 0916606,4A Thermal Breaker.Use AWG#20wiring.
Warning
If yourpowersupplyexceedsthe specified regulation,over-voltage protection isrequired.
Robotiq recommendsusing thispowersupply:
lForthe2A output current:TDK-LambdaDPPSeries,50W SingleOutput DIN Rail Mount PowerSupply:DPP50-24.
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5.3.Environmental and OperatingConditions
TheWrist Cameraisdesigned forindustrial applications.Alwaysrespect thefollowing specified operating
environmental conditions:
CONDITION VALUE
Minimum storage -30°C[-22°F]
Maximum storage 70°C[158°F]
Minimum operating
temperature 0°C[32°F]
Maximum operating
temperature 50°C[122°F]
Humidity(non-condensing) Non-condensing.
IP Rating IP67
Others Lensesmust be free from dust,soot and water.
Environment must befreefrom powerful electromagnetic
interference.
Environment must befreefrom corrosive orexplosive liquidsor
gases.
Table5-2:Environmental and operating conditionsfortheWrist Camera.
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5.4.Mechanical Installation
5.4.1.MountingtheWrist Camera Witha End-EffectoronUniversalRobots
Info
To mount theWrist Camerawitheitheranadaptivegripper,seesectionMounting the Wrist Camera With
a GripperonUniversalRobotsonpage20.
1. Place theWrist Camera(RWC-CAM-001) onthe robot arm.AligntheWrist Cameradowel pinwithtool flange.
2. Place tool plate(RWC-TOOL-062) onWrist Camera.Align thetool plate dowelpin withWrist Camera.
3. Mount end-effectoron robot arm,using M6 screwsthat passthroughthetool plateand theWrist Camera.
4. Attach cablealong robot arm.Fordetails,seesectionCableManagement on page23.
Fig.5-1:Mouting the Wrist Camerakit on Universal Robots.
Info
Theend-effectorissecured directlyin thetool flange of therobot arm.BoththeWrist Cameraand thetool
plate arefitted withclearance holesforthisassembly.
M6 screwsto mount anend-effector ontheWrist Cameraarenot provided.UseM6screwsof appropriate
lengthto secureend-effectoronrobot arm.
Caution
Whenmounting onlyaWrist Cameraonarobot,the spring pinsused to connect to grippersareexposed.
Handlethem carefully.
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Warning
Wrist Cameramust beoriented properly.
Do not offset theWrist Camerafrom thetool centerpoint onthe Xand Yaxes,oraround the Zaxis.
5.4.2.MountingtheWrist Camera Witha GripperonUniversalRobots
To mount aWrist Cameraand aRobotiq adaptivegripperona Universal Robotsmachine,followtheseinstructions,and
referto thefigurebelow:
1. Place theWrist Camera(RWC-CAM-001) onthe robot arm.AligntheWrist Cameradowel pinwithtool flange.
2. Mount Wrist Cameraontool flange using theprovided screwsand lockwashers.
3. Mount gripper ontheWrist Camerausing theprovided screwsand lockwashers.
4. Attach cablealong robot arm. Fordetails,seesectionCableManagement on page23.
Fig.5-2:Mounting bothaWrist Cameraand a2-Finger AdaptiveRobot GripperonaUniversal Robotsrobot.
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5.5.Electrical Setup
5.5.1.Pinout Interface
TheWrist Camerainterfaceswithanend-effector (e.g.a Robotiq adaptivegripper)viaa10-spring pinconnectorlocated
onitsoutersurface.
5.5.2.PowerSupply
Caution
If mounting a 2-Finger AdaptiveRobot GripperontheWrist Camera,thelatteractsasagrippercoupling.
Therefore,onlytheWrist Cameradevicecableisrequired to providepowerand communication to bothitself
and thegripper.Wiring setupsareidentical whetheryou usethe Wrist Cameraalone,or with anend-effector.
Powerand communication areestablished with the Wrist Cameravia the10-m high flexcable.It provides24Vpower
supplyto the Wrist Cameraand enablesUSB2.0 communicationwith theUniversal Robotscontroller.
Followtheseinstructionsto wireinto theUniversal Robotscontroller:
1. Turnoff therobot controller.
2. Connect the10-mhighflexcableto therobot controller.Use anyavailable24Vand 0Vslots.SeeFig.5-3
lConnect the red wire(24V).
lConnect the blackwire(0V).
Fig.5-3:Powersupplywiring onCB3.1Universal Robotscontroller.
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