Cam Locate Object Coordinates to Modbus

drpz

Hi,

I'm using Cam Locate to find an object, and would like to write the XYZ coordinates of the object to Modbus, but I'm a little unsure of the syntax. It looks like the XYZ position is stored in Fx, Fy and Fz variables, and I also see Copilot functions like "get_sensor_fx()". I have tried: Set MODBUS_3=Fx or Set MODBUS_3=get_sensor_fx(), but that isn't working. Anyone know how to do this?

I'm also curious to know if someone can explain what these coordinates are offset from, and how to find that?

Thank you!

bcastets

@drpz
Fx, Fy and Fz are not coordinates. This is the force apply on each axis.

You can get the position of the object detected via the variable : object_location
object_location is a UR waypoint like: P[x,y,z,rx,ry,rz]
Knowing that you can get the x,y,z position.

• x=object_location[0]
• y=object_location[1]
• z=object_location[2]

drpz

Thank you for the help and quick reply. 

This makes sense, but it isn't working. On testing I get an error: "Compile error: name 'object_location' is not defined.

Any ideas on what I might be doing wrong?

bcastets

@drpz
It should be fine.
Make sure that you call this variable after a camlocate and not before.
Could you please share your program ?

drpz

Okay, got it. Had to convert the object location to an integer, so I muliplied by 1000 and used the floor function, and in two cases (for y and z) multiplied by -1 to ensure it was positive.

Thank you!!

Program:

 Program
   BeforeStart
     Gripper Reset and Activate
     MoveJ
       Waypoint_1
       Gripper Move50% (1)
       Set MODBUS_6=0
   Robot Program
     Set DO[0]=On
     Cam Locate
       For object(s) found
         var_1≔floor(object_location[0]*1000)
         Set MODBUS_3=var_1
         var_2≔floor(-object_location[1]*1000)
         Set MODBUS_4=var_2
         var_3≔floor(-object_location[2]*1000)
         Set MODBUS_5=var_3
         MoveL
           Approach_Point
           Pick_Point
           'Insert pick action here'
           at_pick
           Gripper Move70% (1)
           Set MODBUS_6=1
           Wait: 0.25
           Retract_Point
       If no object found
         'Optional'<br>

bcastets

It is supposed to work.

You can eventually define the variable at the beginning of the program.

object_location=p[0,0,0,0,0,0]

For your information, here below is an extract of the camera manual about the object_location variable.

drpz

It worked great. Thank you for your help!