Node For Finding Waypoints - Baumer VeriSens ID Series Technical Documentation Manual

16.5.2 Node for finding waypoints

So far, waypoints have been taught and started accordingly in the program. With the Vision Sensor, it is
possible to use a second type of waypoint - defined by a position provided by the vision sensor.
The user can specify an offset. This offset can be edited by entering values or calculated by adopting a robot
position.
NOTE
The vision sensor cannot detect the rotation (RX, RY), nor the "depth" (Z). The fixed value
defined via the vision sensor is supplied for Z ("reference height"). RZ corresponds to the
object rotation between the X and Y axes, i.e. around the Z axis.
This node can also be used multiple times to, for example, first to move over a found object, then move to
the gripping position via a linear movement and again move a piece up after gripping by a linear movement.
Movement type of the robot
MoveJ
The robot moves its joints freely, it can rotate to the desired position. Angle of rotation and spin are
adjustable.
MoveL
The robot moves in a straight line (linear) from one point to the next. Speed and acceleration are adjustable.
With this function, you can edit the name of the waypoint.
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Technical Documentation
VeriSens
Baumer Optronic GmbH
Radeberg, Germany
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