Use With Ur (Universal Robots) - Baumer VeriSens ID Series Technical Documentation Manual

16 Use with UR (Universal Robots)

Vision sensors with Universal Robot support are designed and certified to retrofit UR3e, UR5e and UR10e
Universal Robots (UR) with image processing.
ATTENTION!
Please observe the instructions and notes in the Universal Robots technical
documentation!
Image processing supports the following use cases:

The image-based feature check of objects supported by the UR

The image-based finding of objects and transmission of the coordinates to the UR
The image processing task is configured via the Application Suite of the vision sensor.
The configuration software of the UR is functionally extended by the installation of the URCaps for the vision
sensor. There are also some additional commands in the UR control available to select the inspection task or
to use special waypoints whose coordinates are determined with the image processing.
Important UR robot control terms
Term
PolyScope
Node
URCap
Reference level
Depth of field
Distortion correction
v2.11.0-B4
Meaning
Software for robot control and creation of UR programs.
Step in the UR program, contains processing step or subroutine.
Additional software (plug-in) that allows UR to communicate with external
accessories such as the vision sensor. URCap is installed on the UR via a USB
stick.
In relation to the Z axis, there are different heights, e.g. contact surface in the
machine, top of the examination object, bottom SmartGrid, top SmartGrid. It may
be easier to relate all heights to one level, e.g. the contact surface in the machine.
This is the reference level.
Depending on the lens and design, the vision sensor captures a sharp image at a
defined distance with a tolerance field up and down. This focus area is the depth
of field. When arranging the SmartGrid, care should be taken to ensure that it is
still in the depth of field even when tilted, in order to be detected, even if the
SmartGrid is able to deal with certain blurs.
Due to the physical lens distortion and oblique installation, the captured image
differs from the original state, it is "distorted". The vision sensor is able to
electronically equalise the image to match the undistorted ideal state.
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Technical Documentation
VeriSens
Baumer Optronic GmbH
Radeberg, Germany
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