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Enric
Founding Pro, Partner, Beta Tester Multi Gripper, Vacuum Beta tester Posts: 113 Handy
It is possible to use Wizar Pallet UR inside Camera Locate? |
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/ Most recent by Tyler_Berryman
in Programming
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Hi, Pros!
I'm doing tests with the camera.
One of the challenges is to locate large sized pieces to be able to know the position and orientation.
Here video
Name:UseWizardPalletUR_Inside....
Name:UseWizardPalletUR_Inside....

1.- At the moment I have been able to know the position of my base to palletize.
But I have a problem ... I can not place the size of 600mm * 340mm (I used 340 * 340), but I must see half of the piece. Why this limitation?
Here video
Name:NotPosible600mm
Name:NotPosible600mm
2.- The UR Pallet function can not be included in the camera node locate ..
Should I work with SCripts?
@Etienne_Samson
3.- Also I have detected an error with the Polyscopy 3.5.1.1 of UR and the Robotiq URcap V1.2.3
3.- Also I have detected an error with the Polyscopy 3.5.1.1 of UR and the Robotiq URcap V1.2.3
Here video
Name:ErrorWristCameraMovetoSnap....
Thanks in advance
Best Answers
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David_Levasseur Beta Tester Beetle Posts: 182 Handy
Hello @Enric, The error message you got is caused by the vision URCap and depends on the language of Polyscope. If you set it to English, you will get rid of the issue. This will be fixed shortly with the release of the new vision URCap which will be compatible for all languages. -
Tyler_Berryman Posts: 122 Handy
Hello @Enric, the first limitation is designed to limit the part size that can be located using the Wrist Camera. The largest dimension that can be input in the parametric method's user interface is 500mm. I believe that this limitation is to avoid any errors or inaccuracies related to the camera being too far from the work plane or from distortion effects from the outer edge of the field of view.
Concerning the pallet wizard inside the Camera Locate node, I do not think that this is possible. However, I made a program that will allow to have multiple place positions based on the location of the object that is returned by the Wrist Camera:Program BeforeStart parts≔0 Robot Program MoveJ Waypoint_1 Camera Locate If parts≟0 MoveL Waypoint_3 Waypoint_2 Gripper Open Waypoint_3 If parts≟1 MoveL Waypoint_5 Waypoint_4 Gripper Open Waypoint_5 If parts≟2 MoveL Waypoint_7 Waypoint_6 Gripper Open Waypoint_7 If parts≟3 MoveL Waypoint_9 Waypoint_8 Gripper Open Waypoint_9 Halt Set parts=parts+1
The video of the this program is shown in this post : https://dof.robotiq.com/discussion/468/screw-insertion-using-robotiq-camera