ROBOTIQ CNC Machine Tending Kit Instruction Manual page 89

89
6.1 .3. object_location pose
Once a snapshot position is defined, the work plane used for the calibration gets its own coordinate system, regardless of its
orientation. This coordinate system is shown in the figure below.
Fig. 6-7: Work plane reference frame.
The Wrist Camera detects an object on the workplane and find its X-Y position, as well as its Z-orientation in the work plane
coordinates system (see Fig. 6-8). Thus, a detected object is always laid flat (parallel) to the work plane. It is possible to use the
object_location pose, which is a variable containing the detected object pose [positions X, Y, Z, and rotations Rx, Ry, Rz]) in the
robot base reference frame. This variable is updated each time the program goes within a Cam Locate node, thus every time an object
is detected, regardless of how many Cam Locate nodes are in the program. The object_location pose is relative to the robot base
frame.
Fig. 6-8: object_location pose on the workplane used for the calibration.
object_location is a variable with the pose structure (x, y, z, x rotation, y rotation, z rotation):
x: x position of the object detected, relative to the robot's base reference frame.
y: y position of the object detected, relative to the robot's base reference frame.
z: z position of the object detected, relative to the robot's base reference frame.
x rotation: x rotation from the robot's base frame to the detected object feature reference frame. The object's X axis is parallel to the
workplane on which the calibration has been performed.
Robotiq CN C M achine Tending Kit Instruction M anual