Cam Locate Node - ROBOTIQ Wrist Camera Original Notice

8. Cam Locate Node

The Cam Locate node is used to teach objects. Once an object is taught through the Cam Locate node, you can use it to
detect the object on a work plane, and to interact with it. See section Object Teaching on page 35 for a walkthrough.
Programming
The first thing to do after completing the object teaching is to add a Move node to the snapshot position. When you exit
the object teaching wizard, the robot arm is already in the Snapshot position location. You can simply add a MoveJ
command before the Cam Locate node and set it to the location the robot arm is at (see Snapshot_pos_1 from the next
figure).
Caution
Make sure the robot arm is moved to the snapshot position before executing the Cam Locatenode in the
robot program.
The Cam Locate node acts as an " if" statement. If the taught object is detected by the camera, the robot program enters
in the Cam Locate node and executes all command lines within it.
After teaching the object within the Cam Locate node, you may continue the programming by using either a linear move
(MoveL) with the snapshot position variable as feature or the object_location pose. It is also possible to edit the
detection threshold or the saved object position after the Teach Object wizard.
See section Linear Move with Feature on page 96 to program a robot motion with a linear move (MoveL) with the snap-
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shot position variable as feature. This allows to perform robot moves relative to the object detected at runtime.
See section object_location pose on page 97 to use an object_location pose with robot moves. For advanced users.
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See section Edit Detection Threshold and Object Location on page 100 to edit the detection threshold and/or the
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saved object position.
Cycle Time
The Cam Locate node cycle time is influenced by background complexity, object complexity , and how many
objects are on the work plane.
To reduce the Cam Locate cycle time, consider the following at runtime:
Put fewer objects on the work plane.
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Limit number of object types.
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If your object has many detailed features, you can teach a drawing of it with simplified features or teach only
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one area of the object.
Use diffuse lighting, avoiding high light intensity spots on the work plane.
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Enabling Fast Cycle Time
If ambient lighting is stable at runtime, you can enable the fast cycle time configuration. Go to the Installation tab >
Camera > Configurations, and select Enable fast cycle time.
Robotiq Wrist Camera Instruction M anual
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