Find Visual Offset And Apply Visual Offset Nodes, And Defining Tags - ROBOTIQ CNC Machine Tending Kit Instruction Manual

6.3. Find Visual Offset and Apply Visual Offset Nodes, and Defining Tags

The Wrist Camera Visual Offset capabilities are based on two nodes: Find Visual Offset and Apply Visual Offset. By attaching a
Robotiq tag to a fixture (a tray, for instance), you can teach robot moves which are relative to this tag position. In other words, you can
first teach the tag position, then teach moves, and even if your tray was moved, your robot program will compensate its move
commands, first by finding out by how much the tray was displaced (using the node Find Visual Offset). This value is stored, then
applied to moves under the node Apply Visual Offset subprogram.
1. Tap Program > URCaps > Scan Code.
2. Tap
.
3. The window " Select Code Type" is displayed. Tap the applicable code
type. To navigate pages for additional code types, use
4. Put code on workplane, then tap
you are not satisfied with the result. Save your code by tapping
You can tap
the code.
This is useful when testing if your codes are read properly
under your specific operating conditions.
5. To save your readings, tap
Settings" window is displayed.
6. To save collected strings to a file, check either box, or both. If you
choose to save your data locally, you can use a USB stick to do so. The
data will be stored in a .CSV file.
You can also use the string value during a program. Its value is stored
in variable rq_code_string, found in the Variables tab.
Robotiq CN C M achine Tending Kit Instruction M anual
, or retry by tapping
to display the string that was read from
. The " Scan Code
and .
if