Hi guys,

Since the Robotiq camera is mounted on the robot's wrist, the field of view is limited by the reach of the robot. This means that the camera's field of view is often limited to an area of about 18"x18" on a UR5. This can be problematic if you plan on using the camera to identify parts on a large table and utilizing the UR5's longer reach. However, by using multiple camera locate nodes you can increase the camera's workspace. 

In this demonstration, I used 3 camera locate nodes to utilize the entire surface surrounding the UR5. These 3 camera locate nodes are looking for the exact same part. In the program, I am incrementing the variable "part" everytime time the program goes through the camera locate node. When the vision system identifies an object that matches the image template, the robot approaches the part to pick it up. If the gripper detects that there is an object in its fingertips, the robot jumps to another section of the program. This IF statement instructs the robot on where to place the part, and it removes one count from the variable "part". This is because I only want to increment the variable "part" when the vision system fails to identify a part in its field of view since I am using this variable to change snapshot positions. When the robot fails to identify a part in the 3rd and last snapshot position, the variable "part" is reset to 0 and the robot returns to the 1st snapshot position. 

Here is a video of the demonstration :
https://www.youtube.com/watch?v=JyzNq4X5clI&feature=youtu.be

Here is the program I used for the demo:

Program
   Robot Program
     'MoveJ'
     If parts<2
       MoveJ
         Waypoint_1
         Gripper Move 25%
       Camera Locate
         MoveL
           Waypoint_2
           Waypoint_3
           Gripper Close
           Waypoint_4
       Set parts=parts+1
     ElseIf 2≤parts and parts≤4
       MoveJ
         Waypoint_8
         Gripper Move 25%
       Camera Locate
         MoveL
           Waypoint_5
           Waypoint_6
           Gripper Close
           Waypoint_7
       Set parts=parts+1
     ElseIf 4≤parts and parts≤6
       MoveJ
         Waypoint_9
         Gripper Move 25%
       Camera Locate
         MoveL
           Waypoint_11
           Waypoint_10
           Gripper Close
           Waypoint_12
       Set parts=parts+1
     ElseIf parts≥6
       parts≔0
     If rq_is_object_detected()
       MoveJ
         Approach_Tray
         parts≔parts-1
       MoveL
         Waypoint_13
         Gripper Move 25%