UR5 and Sick camera

Patrikkemenes

Hi!
I am currently working on a project with an UR5 and a SICK inspector that can recognize objects. The problem that I need to solve is the following: when the robot starts working, the camera gets the positioning coordinates for the robot and then the robot places an item to that position. I would like to save that position as a variable every time the robot program starts and only at that one time. So the camera only needs to do that at the beginning and save it, so that after the first cycle it will get the positon from the saved variable. 

Thank you in advance!

matthewd92

You could perform the camera inspect action in the Before Start section of the program, then its only performed one time at the start of a program. If the camera is not saving the position to a variable already you could simply create a variable and save the position the arm is in when it gets to the point using the script commane `get_actual_tcp_pose()` or by assigning the Tool waypoint to the variable when the robot is where you want to make the assignment.

Patrikkemenes

@matthewd92 I could do it thanks to your previous post (https://blog.hirebotics.com/engineering/universal-robots-programming-to-create-editable-feature-points) that I found! Thanks, you are awesome!