Task Writer: Using Vision In Motion Commands - Doosan M0609 Reference Manual

No. Item
Add Skill Command after
1 Vision Shoot and before
Teaching Position Entry
2 Picking Pose
3 Vision Position Offset
4 Vision Variable
3.3

Task Writer: Using Vision in Motion Commands

1
2
Enter the desired robot position.
Inserting a Skill Command (Pick, Place, etc.) between Vision and
End Vision in the Task List will create a toggle button for the skill
command to use Vision Position Offset. (The button is not
displayed if there is no Skill Command between VisionStart and
VisionEnd.)
Caution: To use Vision Position Offset, it is necessary to perform
calibration in the Workcell Manager. Without calibration, the robot
cannot be moved to a desired position.
Acquires the pose after moving the pose to pick based on the Vision
Pose using direct teaching.
Match the Vision measurement pose and robot pose.
The Vision measurement pose can be moved based on the robot.
Select a pose to match the Vision and robot coordinates.
3
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Description