ROBOTIQ Wrist Camera User manual

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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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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
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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
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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.
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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.
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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.
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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].
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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.
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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
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lThe Camera needs to be properly secured before operating the robot.
lDo not install or operate a Camera that is damaged or lacking parts.
lNever supply the Camera with an alternative current.
lMake sure all cord sets are always secured at both ends, at the Camera and at the robot.
lAlways respect the recommended keying for electrical connections.
lBe sure no one is in the robot and/or Camera path before initializing the robot's routine.
lAlways respect the Camera payload.
lAll local safety measures and/or laws on robot operation must be applied to the Vision System.
lAvoid looking straight at the LEDs when they are turned on as this may cause dazzlement.
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 its own object teaching process as explained in the Object Teaching
section. The Vision System gets the object's position (x, y) and orientation along the z axis. It allows to operate the robot
according to the object location.
Tip
The Guidelines on Snapshot Position section will give you advice on what workspace should be used or avoided.
Section 5 will give you advice on what objects can be located or not along with background recommendations.
Caution
The Vision System is NOT intended for:
lMetrology
lBar-code / QR code reading
Note
Always comply with local and/or national laws, regulations and directives on automation safety and general
machine safety.
The unit may be used only within the range of its technical specifications. 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.
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3. Installation
The following subsections will guide you through the installation and general setup of your Robotiq Wrist Camera
Vision System:
lSection 3.1 details the scope of delivery for the Wrist Camera kit for UR, verify your package.
lSection 3.2 lists the required tools, parts and equipment for proper use of your Camera.
lSection 3.3 explains the operating conditions that must be met for the 2-Finger Gripper to operate normally.
lSection 3.4 guides you through the mechanical installation using the Wrist Camera and other optional parts.
lSection 3.5 describes the required electrical set up of the Gripper, its power source and cable management.
lSection 3.6 guides you through the software installation.
Warning
Before installing :
lRead and understand the safety instructions related to the Vision System.
lVerify your package according to the scope of delivery and your order.
lHave the required parts, equipment and tools listed in the requirements ready.
Warning
When installing :
lMeet the environmental conditions.
lDo not operate the Vision System, or even turn on the power supply, before the Camera is firmly
anchored and the danger zone iscleared.
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3.1. Scope of Delivery
3.1.1. Wrist Camera Kit for Universal Robots:
RWC-UR-KIT
Standard upon delivery:
lRobotiq Wrist Camera with 10m High-Flex pigtail cable RWC-CAM-001;
lUniversal Robots pattern tool plate RWC-TOOL-062;
l16 Gb USB stick ACC-USB-16G;
lUSB software license dongle ACC-USB-DONGLE;
l4-port USB hub ACC-USB-4-HUB;
lCalibration board ACC-CALIB-BOARD;
lColored background for object teaching ACC-TEACH-BACK;
lHardware kit for fixing Wrist Camera on Universal Robots.
Caution
The hardware for fixing a tool on the Wrist Camera is not provided.
Combo of 2-Finger Adaptive Gripper and Wrist Camera for Universal Robots:
CUR-AGC-085-RWC or CUR-AGC-140-RWC
Standard upon delivery:
lWrist Camera Kit for Universal Robots includes:
lRobotiq Wrist Camera with 10m High-Flex pigtail cable RWC-CAM-001;
l16 Gb USB stick ACC-USB-16G;
lUSB software license dongle ACC-USB-DONGLE;
l4-port USB hub ACC-USB-4-HUB;
lCalibration board ACC-CALIB-BOARD;
lColored background for object teaching ACC-TEACH-BACK;
lHardware kit for fastening Wrist Camera to Universal Robots.
lGripper parts:
lBasic Gripper unit (85 or 140) AGC-GRP-002 or -140 (depending on your combo);
lScrew kit for fixing Gripper on Wrist Camera.
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Wrist Camera Instruction Manual
3.2. Required Tools and Equipment
The following tools are required to install the Wrist Camera:
l2 mm slotted screwdriver to perform terminal block connections when wiring.
Provided tools with the Wrist Camera:
l4 mm hex key to mount the Camera on the UR arm.
Optional tools if installing 2-Finger combo: CUR-AGC-085-RWC or CUR-AGC-140-RWC:
lnone, use the provided 4 mm hex key.
The following parts are required for setup:
lUniversal Robots UR3, UR5 or UR10 along with its controller;
Warning
The system is only compatible with UR CB3.1 controller, check your controller version.
lUniversal Robots' PolyScope version must be 3.5 or later in order to install the URCap.
lPower supply if not using Universal Robots controller supply (see below);
lFuse, see information below.
The Camera needs to be supplied by a DC voltage source. This power supply is not included with the Camera kit for
UR. Required power supply must match the Robotiq device. The following table shows the specifications with
regards to the power supply required to operate the Camera and the optional RobotiqGripper.
SPECIFICATION VALUE
Output voltage 24 V DC ±10%
Output current 1 A
Overcurrent Recommended power supply with internal
protection, otherwise fusing is required.
2 A fuse at 25°C [77°F]1
Table 3 - 1: Robotiq Wrist Camera and 2-Finger power supply requirements.
Info
1Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal; use AWG #20 wiring.
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Warning
If your power supply exceeds the specified regulation, over-voltage protection is required.
Robotiq recommends the use of the following power supplies:
lFor the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply:DPP30-
24.
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3.3. Environmental and Operating Conditions
The Wrist Camera is designed for industrial applications. Always respect the following specified operating
environmentalconditions:
CONDITION VALUE
Minimum storage/transit
temperature
-30°C [-22°F]
Maximum storage/transit
temperature
70°C [158°F]
Minimum operating temperature 0°C [32°F]
Maximum operating temperature 50°C [122°F]
Humidity (non-condensing) Non-condensing.
Others Lenses must be free from dust, soot and water.
Environment must be free from powerful electromagnetic
interference.
Environment must be free from corrosive or explosive liquids or
gases.
Table 3 - 2: Environmental and operating conditions for the Wrist Camera.
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3.4. Mechanical Installation
Wrist Camera kit for Universal Robots
For mechanical installation of a Wrist Camera on a UR robot along with an end-effector (other than Robotiq's 2-
Finger Gripper), follow these instructions and refer to the figure below:
lPlace the Wrist Camera (RWC-CAM-001) on the robot arm. Align the camera's indexing (dowel) pin properly in
Universal Robots' bolt pattern.
lPlace the tool plate (RWC-TOOL-062) on the camera. Align the tool plate's indexing (dowel) pin correctly in the
Wrist Camera.
lFix the desired end-effector on the robot arm, through the tool plate and the camera, using M6 screws.
lFix the cable along the robot arm, please refer to the Cable Management section.
Fig. 3-1: Mechanical installation of the Wrist Camera kit for Universal Robots.
The end-effector is not screwed in the camera or the tool plate, but directly in the robot arm. Both camera
and tool plate have through holes for thisassembly.
Warning
Make sure the Camera is oriented properly.
Do not offset the Camera from the tool center point on the X and Y axes, or around the Z axis.
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Hardware
M6 screws to mount an end-effector on the Wrist Camera are not provided. Use M6 screws of appropriate
length to secure the end-effector on the robot arm.
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3.4.1. Combo of 2-Finger Adaptive Gripper and Wrist Camera for Universal Robots
For mechanical installation of a Wrist Camera on a UR robot along with Robotiq's 2-Finger Gripper, follow these
instructions, and refer to the figure below:
lPlace the Wrist Camera (RWC-CAM-001) on the robot arm. Align the camera's indexing (dowel) pin properly in
Universal Robots' bolt pattern.
lFix the camera on the robot arm using the provided M6 X 12 LHCS screws and lock washers.
When mounting only the Wrist Camera on the robot, the spring pins that would ensure connection to a
Robotiq 2-Finger Gripper are exposed. Be careful not to harm them.
lMount the gripper directly on the Wrist Camera using the provided M5 X 35 SHCS and lock washers.
lFix the cable along the robot arm; please refer to the Cable Management section.
Fig. 3-2: Mechanical installation of the Combo of 2-Finger Gripper and Wrist Camera for Universal Robots.
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