Datalogic IMPACT Robot Guidance Owner's manual

Brand: Datalogic

Model: IMPACT Robot Guidance

Type: Owner's manual

Datalogic IMPACT Robot Guidance is a powerful tool that provides accurate and reliable robot guidance for various applications. It includes features like 3D camera calibration, hand-eye calibration, and vision program creation. You can easily set up the system, calibrate the robot, and create vision programs using the Impact software. Datalogic IMPACT Robot Guidance supports multiple Datalogic smart cameras and machine vision servers, making it a versatile solution for various industrial automation tasks.

Table of Contents

1 What is Datalogic Impact URCaps ............................................................................................................................ 1

1.1 First Plugin Setup .............................................................................................................................................. 1

2 Camera Setup ............................................................................................................................................................ 4

2.1 Camera Connection .......................................................................................................................................... 4

2.2 Calibration target ............................................................................................................................................... 4

2.3 Calibration plane ............................................................................................................................................... 4

2.4 Impact Setup ..................................................................................................................................................... 5

2.4.1 Optical Setup ................................................................................................................................................. 5

2.4.2 TCP/IP Port ................................................................................................................................................... 5

3 Tool Center Point (TCP) ............................................................................................................................................. 6

4 Vision programs ......................................................................................................................................................... 7

4.1 “Loader” task ..................................................................................................................................................... 7

4.2 Vision Program Template .................................................................................................................................. 8

4.3 Vision Program Custom Inspection in Impact ................................................................................................... 9

5 Datalogic Impact URCaps Connection .................................................................................................................... 10

5.1 LiveView button ............................................................................................................................................... 11

6 Datalogic Impact Target Calibration ......................................................................................................................... 12

7 Datalogic Impact Hand-Eye Calibration ................................................................................................................... 14

8 Programming ........................................................................................................................................................... 17

8.1 To visualize the variables before launching the program ................................................................................ 17

Impact Datalogic URCaps

1 What is Datalogic Impact URCaps

Datalogic Impact URCaps is the best solution to integrate communication between the Universal Robot and a Datalogic

camera using Impact software.

Set up your system in a few minutes and achieve an accurate calibration from the teach pendant.

Install Impact 12.2 and later, install Datalogic URCap, set up the camera and your Vision Program with Impact. Calibrate

the robot with Datalogic Impact Plugin.

1.1 First Plugin Setup

NOTE: The URCap works on Polyscope 3.7+ or on Polyscope 5.0+

• Go to https://www.datalogic.com and download the DatalogicURCaps1.0_Impact12.2.urcap file.

• Boot the robot.

• Transfer the DatalogicURCaps1.0_Impact12.2.urcap file to a USB stick and plug it into the robot pendant.

• Go to Setup Robot.

• Select “URCaps”.

Impact Datalogic URCaps

• Click the plus button (+) to add the URCap Impact plugin file.

• Open the USB drive and press the DatalogicUrcaps1.0_Impact12.2.urcap file. Click open and restart the robot

to finalize the process.

• To verify the settings, go to “Setup Robot”. You should see the green checkbox as shown below.

Impact Datalogic URCaps

The Impact Plugin adds the following features to the PolyScope software:

• A Datalogic Impact Menu Installation tab.

The main screen features the connected device image on the left side, which is a P-Series by default. Clicking

on the camera image some information about the camera (e.g. address) will be displayed.

On the right side there is a top-down menu that guides the operator during the calibration.

• An Impact menu item on the Program tab (Program> Structure >URCaps >Impact Inspection). It can be

easily added to the program by tapping on it. See the picture below.

• Three new variables called Impact Detection, Impact XYR and Impact Z. These variables are used to store the

camera pose information that is sent from the camera during triggering.

NOTE: The variables are not visible by default in the Variables tab until the program is launched. See Programming.

Impact Datalogic URCaps

2 Camera Setup

The Impact URCap can work with all Datalogic Smart cameras and machine vision servers.

Mount the camera on a fixed support above the working area or on the robot end-effector using a mounting bracket.

It is possible to download from Datalogic website a bracket 3D model and it can be modified for a specific application.

2.1 Camera Connection

Connect the camera and the robot, i.e. using a network switch. Make sure the robot and camera addresses match the

same subnet and netmask, but with diﬀerent IP addresses.

There should be enough space for the robot to be able to move on the working area. Set a safety

plan to prevent the robot’s arm to hit the camera.

2.2 Calibration target

To perform the system calibration a target is needed. Both chessboard pattern and symmetric dot pattern are supported.

To have the best results, the pattern should approximately cover the whole field of view. Place the selected pattern

(provided by Datalogic) to match with the camera’s field of view.

2.3 Calibration plane

The system calibration is performed on a transverse plane. The plane can be inclined but cannot be vertical. The x and

y coordinates are seen from the robot base position.

Impact Datalogic URCaps

2.4 Impact Setup

For more information see Impact Reference Guide manual.

2.4.1 Optical Setup

• Go to VisionDevice>Camera>Setup adjust shutter speed and tune the focus using the camera screw

accordingly.

• Enable Auto Trigger when online.

2.4.2 TCP/IP Port

Check the value of the TCP/IP port, default is 20000.

If the camera is set to the default value, it is possible to connect it directly after the search.

Otherwise, change the port to the desired port.

Impact Datalogic URCaps

3 Tool Center Point (TCP)

The TCP is the part of the robot connected to a pointer as end of arm tool (EOAT). The Tool Center Point (TCP) need

to be set correctly for the

Datalogic Impact Hand-Eye Calibration.

To setup the TCP:

1. On the main menu, select “Program Robot”.

2. Select Installation>TCP Configuration.

3. Set all the parameters to the correct value.

Impact Datalogic URCaps

4 Vision programs

Two different Vision Programs are needed to perform an inspection.

1. RobotGuidance.vp is the master that controls calibration and the communication with the plugin.

2. RobotGuidanceInspection.vp is the Vision Program inspection file. It is possible to use the Vision Program

Template or to add more Vision Programs.

Make sure that the RobotGuidance.vp vision program is on the file system before loading any inspection Vision

Program.

A single VP for all objects that need to be picked is needed and it has to be trained on those objects. The VPs can be

loaded from the File System to Memory from the camera or from the URCap.

NOTE: Use the same Vision Program Name (in the example RobotGuidanceInspection) in Impact and URCaps Plugin

and choose a different name for each Vision Program. URCaps is case sensitive.

4.1 “Loader” task

Task “Loader” is included in the master Vision Program RobotGuidance.vp, it loads automatically all the Vision Programs.

The master also sets “TCP/IP Character Delimiter”, “Trigger Mode” and “Trigger Time” parameters.

Procedure:

• Add the Vision Program inspection file to the “Loader” task.

• Add a single Vision Program load tool for each Vision Program.

• Check Load On Startup Option in Impact only for the Vision Program file RobotGuidance.vp

Impact Datalogic URCaps

• Open the RobotGuidance.vp

4.2 Vision Program Template

The template uses a Pinpoint Pattern Find tool and retrains with the new model it will work.

The camera receives the message from the robot. The

VP is recognized by the software and starts working.

Impact checks the trigger ID and recognizes it. The

triggered image is stored for the inspection.

Each Vision Program needs to have a different trigger

ID to trigger the desired inspection only.

Impact Datalogic URCaps

NOTE: The Vision Program template works only if the Pinpoint Pattern Find is not removed. See Vision Program Custom

Inspection in Impact.

4.3 Vision Program Custom Inspection in Impact

The Pinpoint Pattern Find tool can also be replaced with a custom inspection.

To create a custom inspection in Impact:

• Remove the Pinpoint Pattern Find from the Vision Program.

• Link the [X,Y] output to the Apply Calibration and the rotation directly to the String Builder.

• Edit the Program Name field of the VP with the desired name, remember that during robot programming this will

be used as reference to this specific inspection.

The inspection task begins automatically. The point in

the image is calibrated. The [X,Y] output are linked to

the Apply Calibration tool and rotation is linked to the

String Builder.

Impact Datalogic URCaps

5 Datalogic Impact URCaps Connection

• After First Plugin Setup go to Installation Tab>Datalogic Impact>Connection.

• Connect the Camera. It is possible to set up the connection with the camera by either pressing the Search button,

selecting the device from the list on the left or manually inserting the IP and Port of the device and pressing the

Connect button afterwards. For more information about Camera Connection see Camera Setup

• If the connection is successful, the LED will turn green and a message will be displayed. Tap on the left arrow

to go back to the main menu.

• If the IP is different from the previous the message below will be displayed. Press “Yes” to reset URCap

calibrations.

Impact Datalogic URCaps

5.1 LiveView button

The LiveView button shows the working area. Click this button to check that the pattern covers the whole field of view.

Click Save to USB button to save an image.

NOTE: A USB must be inserted in order to save to a USB device.

Impact Datalogic URCaps

6 Datalogic Impact Target Calibration

1. Tap the Target Calibration button to perform the calibration. This step is needed to correct the lens and

perspective distortions. On the left, the whole field of view is displayed.

NOTE: Multiple calibrations planes are supported.

2. Select the plane you want to calibrate. Is one plane is being used select position “0”.

3. To change Calibration name: select the plane you want to rename, tap on Calibration Name and enter the new

name.

4. Calibration with both chessboard and symmetric dot grid pattern is supported and can be selected using a

separate drop-down menu.

Impact Datalogic URCaps

5. Image must be in focus in order to have an accurate Target Calibration.

Click the Calibrate button to perform calibration. The captured image will be displayed on the Teach Pendant.

Please note that calibration procedure may take several seconds depending on the chessboard’s number of

corners and the device.

6. Check that the detected chessboard corners on the screen are in the correct position. The image LED will be

green if the calibration is Good or Excellent. The image LED will be yellow if calibration is Fair and red if the

calibration is Poor or Very Poor. A message about the calibration result will also be displayed right to the LED.

7. Get back to the main view by pressing on the left arrow.

NOTE: Do not move or remove the calibration target.

Impact Datalogic URCaps

7 Datalogic Impact Hand-Eye Calibration

1. Tap the Hand-Eye Calibration button to enter the Robot-Camera calibration menu.

2. Select the first Real World Image Point pair to compute hand-eye calibration.

a. Tap Select Point button. The image with the detected image point will be displayed. Tap on the selected

point and make sure it is the correct one. (The selection is the point highlighted with an outer red circle).

b. Press “Set Pose” and move the robot so that the Tool Center Point points to the corner (or to the

center of the dot) selected in the previous step.

Hand-Eye Point Selection with chessboard

pattern

Impact Datalogic URCaps

3. When finished, select “OK”.

4. Accept to confirm the pair. This will bring you back to the Hand-Eye Calibration screen where you should see

the list of selected Real World points.

5. Repeat the same procedure above for the other two non-collinear points.

6. The Send Points button will be enabled. Press it and Hand-Eye calibration will be complete.

7. Verify the calibration is correct: press the “I” button at the top of the screen then, select Test Point. The robot’s

TCP shall be placed perpendicular to the calibrated plane. Just XYZ position will change. The TCP orientation

will not be affected.

NOTE: If the calibration is not correct the robot could move in an unpredictable way. If the robot trajectory is off, press

the emergency button to stop it.

Hand-Eye Point Selection with symmetric

dots grid pattern

Impact Datalogic URCaps

8. Go back to the main menu and enter the “Vision Programs” view to load/unload Vision Programs in the camera

file system. For more information, see Vision programs.

The robot is ready to be programmed now.

Impact Datalogic URCaps

8 Programming

1. Go to the Program tab

2. Create/Open a new program

3. Press Structure>URCaps>Impact Inspection Node: the node for the object pick will be placed.

4. To configure the node, select it and select the Command tab: the program view will be displayed.

5. Select the desired plane where the object has to be located from the Calibration Plane dropdown list.

6. Set the Inspection ﬁeld using the same name of the desired Program inspection. Please note that URCaps

plugin is case sensitive.

7. Set the Timeout for the inspection.

The IP address ﬁeld shows the IP of the connected camera. It is not possible to connect to multiple devices at the

same time.

The execution of the node will trigger the selected inspection and provide three variables:

• ImpactDetection: True if the inspection is successful and at least one object is located.

• ImpactXYR: (X, Y) coordinate of the located object projected on the selected calibration plane plus the

rotation R of the object.

• ImpactZ: The Z coordinate interpolated on the calibration plane. This information can be ignored if not

needed.

8.1 To visualize the variables before launching the program

• Click on Robot Program node and check “Set Initial Variable Values”.

• The node Init Variables will appear over Robot Program node.

Impact Datalogic URCaps

• Select Init Variables and go to the Command tab to visualize the variables.

• Add an IF statement or a UR statement including variables and those variables will be visible in the drop-

down menu.

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Datalogic IMPACT Robot Guidance Owner's manual

Datalogic IMPACT Robot Guidance Owner's manual

Datalogic IMPACT Robot Guidance Owner's manual

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