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ur5user
Posts: 5 Apprentice
Where can I find the Frame Variable where the location of the identified Object is saved? |
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/ Most recent by Annick_Mottard
in Programming
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ur5user
Posts: 5 Apprentice
Hello,
I got an UR5 with wrist camera and 2-finger gripper.
before the "Camera Locate" I´ve add the MoveJ with my Snapshot position. But now I don´t know how to define the Waypoint to my detected Object.
I´ve read the caption "5.3 Programming with a Cam Locate Node" but I still don´t have any clue how to configure the MoveL, after the "Camera Locate"
Can somebody help me? Where can I find the appropriate relative frame ?
Best regards!
I got an UR5 with wrist camera and 2-finger gripper.
before the "Camera Locate" I´ve add the MoveJ with my Snapshot position. But now I don´t know how to define the Waypoint to my detected Object.
I´ve read the caption "5.3 Programming with a Cam Locate Node" but I still don´t have any clue how to configure the MoveL, after the "Camera Locate"
Can somebody help me? Where can I find the appropriate relative frame ?
Best regards!
Best Answers
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Annick_Mottard
Posts: 147 Handy
@ur5user, glad to know you were able to use that relative motion to pick up your object. As you probably did, you need to insert a MoveL node within the Camera Locate node. You must select the snapshot position variable you used for the object teaching as the feature of that MoveL. All the waypoints you add in the MoveL node will be relative to the object location. At the final step of the object teaching wizard, you saved the object position before closing the wizard. Once you saved that position, all the waypoints you add in the MoveL node will be relative to that location. Make sure you do not move the part after saving its position. You can always go back in the Camera Locate node and click on Test & Modify to edit the position.
