Mount The Vision Sensor On The Robot Or Stationary On The Machine - Baumer VeriSens ID Series Technical Documentation Manual

16.3.2 Mount the vision sensor on the robot or stationary on the machine

There are two options for the mechanical setup of the vision sensor:
Carrying the vision sensor with the robot ("dynamic") or stationary attachment of the vision sensor above the
robot ("stationary").
Dynamic:
For attachment to the robot, a special mounting plate is provided. If the mounting space appears
unfavourable, the Vision Sensor can alternatively be attached with a mounting bracket. When using the
mounting bracket, depending on the gripper, an additional position, rotated by 90°, must be approached to
take a picture. When mounting the vision sensor, also pay attention to the adaptation of the weight (gripper +
vision sensor) to the TCP (Tool Center Point).
Route the cables in a suitable way over the robotic arm, for example using commercially available mounting
kits or flexible cable ties.
ATTENTION!
Please note that the position range for wrist 3 should be limited to avoid cable twists
(Installation  Safety  Joint Limits).
If an object is to be gripped in the application in any rotational position, this range must
cover at least 0° to 360°. Since the other joint positions also have an influence, a larger
range (e.g. -90° to 450°) is recommended, provided that the cable routing permits this.
Stationary:
Optimally mount the device in the centre of the area to be monitored and above the robot.
ATTENTION!
The robot could collide with and damage the stationary installed vision sensor or
connected peripherals (e.g. cables).
During installation, observe the robot's freedom of movement and restrict it if necessary
(Safety  Levels)!
NOTE
Since an image is helpful in mechanical setup, the later steps of the connection to the
Application Suite can be provisionally anticipated here.
v2.11.0-B4 391/429
Technical Documentation
VeriSens
Baumer Optronic GmbH
Radeberg, Germany
®