Visual Robotics VIM-303 User manual

VIM-303 User Interface Manual Page 1 5/8/2023
VIM-303
Unboxing and
Hardware Assembly
Manual
For Firmware Release.2.50.492b3d96.202305081306

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Scope and other documentaon
This manual covers how to connect the VIM-303 to a robot. Other relevant manuals include:
•User Interface Manual
•Blockly Programming Manual
•Sengs Manual
•First Picks with VIM-303 Manual
Unboxing VIM-303
The VIM-303 vision guidance system comes packed in a cardboard box (Figure 1). Under the ap is an
informaon label indicang that the assembly instrucons are on the ash drive (Figure 2). The camera
and ash drive with instrucons are underneath the top piece of foam (Figure 3). Keep the cardboard box,
as this will be a useful test object for your rst picking experience (Figure 4). The back of the camera has
the camera’s hostname, published on the network via mDNS, which you will need later.
Figure 1 Figure 2
Figure 3 Figure 4
Figure 5

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Assembling the Gripper Kit and Mount
Figure 6 shows the gripper kit components. Figure 7 shows the Mount and the sucon end eector from
the gripper kit.
Figure 6
Figure 7

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Assemble the sucon end eector to the mount (Figure 8), ensuring that the green exhaust port faces
toward the triangular face of the mount and the gripper is on the side of the mount with the circular ridge
(Figure 9). The mount is fastened with the four included M4 athead screws (Figure 10). Aach the mount
assembly to the wrist of a Universal Robots UR3, UR5, or UR10, ensuring that the exhaust port is aimed in
the same direcon as the wrist connector using the four included M6 screws (Figure 11).
Figure 8 Figure 9
Figure 10 Figure 11

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Assembling the Pneumac Valve
Connect the wires from the valve to DO0 and 0V on the Universal Robots controller. Polarity isn’t crical,
but for convenon hook the black wire to 0V. Cut the black 6mm tubing to length as desired and connect
the air inlet tubing to port P and the controlled air outlet to the gripper to B. Aach the compressor
coupling to the tubing connected to port P (Figure 14) and connect the 6mm to 4mm adapter to the tubing
connected to port B (Figure 15). Connect the 4mm tubing to the gripper (Figure 16).
Figure 12
Figure 13

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Figure 14 Figure 15
Figure 16

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Assembling the Camera to the Mount
Aach the camera onto the mount using the three included M5 screws (Figure 17). Carefully screw on the
Ethernet cable into the camera as shown (Figure 17).
Figure 17
Plugging Everything In
Prepare to plug the VIM-303 cable into a PoE switch, capable of at least 15W. Wait unl the power on step
on the next page. Plug the Universal Robots controller into the switch and power on the robot. Connect
the switch to the network or connect a PC or tablet for isolated operaon (Figure 18).
Figure 18

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Powering Up
Plug the camera into the PoE switch. Immediately the status lights should show solid blue on the le and
blinking or solid orange on the right, indicang the camera is boong (Figure 19). The orange light is the
Ethernet acvity light, while the blue light is a boot status light. Aer about 45 seconds, the le boot status
light should alternate between white and green about once per second and the right Ethernet acvity light
should blink green if connected to a high speed network or orange otherwise.
Figure 19
Network Connecon
The camera can connect onto the network in several ways. If it is connected to a network supporng DHCP,
it will receive an address. If it is on an isolated network, it also generates a stac address at 192.168.1.47.
The camera broadcasts its hostname over mDNS at the address indicated on the label on the back of the
camera such as vrobocs8771.local (Figure 5). Figure 20 indicates the various network conguraons.
Network Type
IP address
mDNS (stac or DHCP)
vrobocs8771.local (whatever is on nameplate)
DHCP
IP address leased from router
Isolated network
192.168.1.47
Figure 20

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Connect to the Camera
Connect to the camera on hhtp port 8080. Let’s assume the camera is on a DHCP network and is leased an
address of 192.168.0.100 and that its hostname (printed on the nameplate) is vrobocs8771. Here are the
two methods of connecng to the camera (using a browser such as Chrome):
hp://192.168.0.100:8080
vrobocs8771.local:8080
When you have connected to the web page, you will see a screen that looks like this (Figure 21).
Figure 21
Familiarity with the User Interface
You are encouraged to read the User Interface Manual at this point in order to become familiar with
navigang the camera’s web interface. You will need to navigate to the sengs page in the programming
menu in order to connect the camera to the robot.

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Seng Robot’s TCP (Tool Center Posion)
Set the robot’s TCP (using the provided sucon gripper) to Z=205mm with all other osets equal to zero
(Figure 22).
Figure 22

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Connecng to the Robot
The camera needs to be connected to the robot in order to control it. The procedure is dierent between
a URxCB (older style) and URxe (newer style).
Connecng to URxCB
Make sure the robot is in an acve and ready state. Jog the robot from the movement menu to make sure.
Go to the Setup Robot page and select Network and set the IP address (Figure 23). If you are using DHCP,
your router will need to do a stac reservaon on that port and you will need to know the address to enter
into the camera. Or you can set a stac address for the robot and use that.
Figure 23

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Connecng to URxe
Make sure the robot is in an acve and ready state. Jog the robot from the movement menu to make sure.
From the hamburger menu in the upper right, go to the system - network page (Figure 24). ). If you are
using DHCP, your router will need to do a stac reservaon on that port and you will need to know the
address to enter into the camera. Or you can set a stac address for the robot and use that.
The “e” series robots have a buon on the upper right near the hamburger menu to switch between local
(pendant) mode and remote (Ethernet) mode (Figure 25). The robot must be in remote mode for the
camera to talk to it and control it.
Figure 24
Figure 25

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Conguring the Camera to talk to the Robot
On the sengs page, select the robot module and select ip. Change the value to match the robot’s IP
address. Press Set Value and Save.
Addional Procedure for URxe series robots
The “e” series robots require no sockets to be open when the pendant is used to transion from local to
remote mode. For camera Firmware Release.2.50.492b3d96.202305081306, an addional step is required
to close all open sockets and reopen them. On the robot sengs page, select reinit and set the value to
1. Press Set Value. The camera’s robot driver will reinialize and connect to the robot.
Figure 26
Figure 27

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Conrm Operaon
Navigate to the Moon Editor. Press one of the jog buons a few mes unl the robot moves. Aer the
rst press, the camera loads a program (called the ur command processor) that interfaces with the
camera. Movement should be seen and the coordinate readout should change. The camera is now
connected to the robot (Figure 28).
Figure 28
Troubleshoong
Contact Visual Robocs if you are unable to successfully complete the procedures in this manual. Future
versions of this manual will have an extensive troubleshoong secon.