ROBOTIQ Wrist Camera User manual

Robotiq Wrist Camera

for Universal Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Revisions 4

1. GeneralPresentation 8

1.1. Visioncomponents 8

2. Safety 12

2.1. Warning 13

3. Installation 15

3.1. Scope of Delivery 15

3.2. RequiredToolsand Equipment 16

3.3. Environmentaland Operating Conditions 18

3.4. MechanicalInstallation 18

3.5. ElectricalSetup 21

4. Software 23

4.1. Installation, Uninstallationand Updates 23

4.2. Snapshot Position 27

4.3. Saving the Snapshot Position 31

4.4. Object Teaching 32

4.5. TeachObject Wizard 34

4.6. CamLocate node 86

4.7. ScanCodenode 103

4.8. Using the Scancode Node 105

4.9. Find and ApplyVisualOffset nodesand Defining tags 107

4.10. Save Imagenode 117

5. Specifications 118

5.1. MechanicalSpecifications 119

5.2. Electricaland OpticalSpecifications 121

5.3. VisionSystemSpecifications 122

6. Maintenance 127

7. Spare Parts, Kitsand Accessories 128

8. Troubleshooting 129

9. Warrantyand Patent 130

10. Harmonized Standards, Declarationsand Certificates 132

Wrist Camera -Instruction Manual

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10.1. Declarationof Incorporation 132

10.2. ngressProtectionCertificate 133

11. Contact 134

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Wrist Camera -Instruction Manual

Revisions

2020-07-28

lApplyand Find VisualOffsetnodesand Defining Tagssection:updates

lSnapshotPositionsection:updates

lObject Teaching section:add of theImport CAD model and updates

2019-10-29

lModified appearance of text boxes.

lAdded dynamiccross-referencesto sectionsof theInstructionManual.

lSection "Required Toolsand Equipment

oModified electrical ratingsshowninTable 1-1:Robotiq Wrist Cameraand gripperpowersupplyrequirements

oUpdated recommended optional equipment

lSubsection" Snapshot Position" :

lRewrotesubsection withamoredetailed workflow

lAdded screenshotsand printing specificationsforthecalibrationboard

lSection "Cam LocateNode" :

lRenamed subsection " Settings" to "CameraLocateSettings"

lAdded typical use tipsfor optionsunderthe"CameraLocateSettings" window

lAdded " Autopick" subsection

lSection " ScanCode Node" :

lAdded subsection "Guidelineson Reading Codes"

lAdded subsection " StringsDataStored inCSVfiles"

lSection " Intended Use" :since barcodesand 2D codesisnowsupported bytheWrist Camera,URCap,removed asentencethat

mentioned it wasnot.

lSection "Object Teaching" :removed all mentionsof theplaybutton and questionmarkbutton which wereused to accesscontextual

help contents.Thiscontextual help hassincebeenremoved from theWrist CameraURCap.

2019-10-24

oFixed numbering errorinTableof Contents.

oStreamlined instructionsinmanyinstances,withlighterformatting.

2019-10-17

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lRenamed section " Programming with theCameraLocateNode" to "CamLocateNode" .

lAdded sections:

lSaveImage Node

lScanCode Node

lFind Visual Offset and ApplyVisual Offset Nodes,and Defining Tags

lAdded subsections:

lIn"Cam Locate Node"

lIn" Snapshot Position"

lAdded two SKUto section " SpareParts,Kitsand Accessories"

lACC-TAG-1BAG5

lACC-TAG-5BAG5(partnersonly)

2019-05-08

Updated section 5.GripperClearanceValidationfeature added.

2019-03-07

lUpdated section 5and all pertaining subsections;majorchangesto theCamerasettings.Align-to-axisand Alignoverfeaturesadded.

2018-09-10

lUpdated section 3,5and 6according to thePolyScopeversion of theuser(CB-Seriesvs.e-Series).

lUpdated section 5and all pertaining subsections;majorchangesto theTeach object wizard (color validation layermasks,multiple

object detection,e-Seriessupport).

2018-05-01

lUpdated section 5and all pertaining subsections;majorchangesto theTeach object wizard

2018-03-26

lUpdated Section 3.6.2forUpdateand uninstall

2017-06-07

lUpdated Section 3.6for URCap packageinstallationprocedure

lUpdated Section 4.2for calibrationprocess

lUpdated Sections5.2,5.2.1,5.2.2,5.2.3for newand improved teaching methods.

lAdded Section6.2to useadvanced programming withthevisionsystem.

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Wrist Camera -Instruction Manual

lUpdated technical specifications(Section 7.3).

lUpdated calibrationboard forUR5and UR10robots(Section 4)

2016-11-16

lUpdated specifications(section6)

lUpdated installationsinstructions(section4)

lAdded Troubleshooting instructions(section 9.1)

2016-08-26

First release

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Copyright

Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational

treaties,and thereforemaynot be reproduced in wholeor inpart,whetherfor saleor not,without prior writtenconsent from Robotiq.

Undercopyright law,copying includestranslation into anotherlanguageorformat.

Informationprovided byRobotiq inthisdocument isbelieved to beaccurate and reliable.However,no responsibilityisassumed by

Robotiq foritsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe

editiondate.

Theinformation contained inthisdocument issubject to changewithout notice.

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1.General Presentation

Theterms"Camera" and "Wrist Camera" used inthefollowing manual all referto theRobotiqWrist Camera,whiletheterms"Vision"

and "Vision System" used in the following manual all referto theRobotiqWrist CameraVision System for Universal Robots.

TheVision System usestheRobotiqWrist Cameraand theCameraLocate softwareon Universal Robots to provide you with asimple

object teaching interface.

Theinterfaceallowsto set up theVision systemso it canrecognizeobject locationsand orientationsautomatically.It locatesoneobject

at atimeonapredefined workplane,getstheobject position(x,y)and orientationalong thez-axis,and allowsto operatetherobot

according to theobject location.TheWrist Cameraisdesigned for industrial applicationsin combination withRobotiq adaptive

grippers.

Info

Thismanual usesthemetricsystem.Unlessotherwisespecified,alldimensionsareinmillimeters.

Info

Thefollowing section presentsthekeyfeaturesof theCameraand must not beconsidered asappropriateto theoperation of

theCamera.Eachfeatureisdetailed intheappropriatesection.

1.1.Visioncomponents

Thefigurebelow describesthevariouscomponents of theRobotiq Vision system for Universal Robots.Thissystem will use theRobotiq

Wrist Camera,used with anyof thesementioned Universal Robots versions(UR3,UR5,UR10,UR16).The system iscompatible with the

CB3.1 controlleror later,aswell asanye-Seriesreleases.Fora list of provided componentswith yourRobotiqWrist Camerakit,seethe

ScopeofDeliverysection.

Fig.1-1:Robotiq Wrist CameraVision system hardware

Wrist Camera -Instruction Manual

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Info

Robotiq Wrist Camera Automatic5Mpxcamerafitted withLED and madeforcollaborativerobots,either

independentlyorwithanend-effector..

End-Effector Tool incorporated to a robot arm via its tool flange.

Robot arm Anycollaborativerobot.

Robot Controller Computerthat controlstherobot,itsend-effectorand/or third partydevices.

1.1.1.Snapshot positionandWorkspace

The figure below illustrates the various terms used in the following manual to describe the Vision System's Snapshot Position and

workspace. The object location process will always start at the snapshot position, that position will determine the field of view of the

Wrist Camera i.e.theworkspace.Consult theSnapshotPositionsection formoredetails.

Fig.1-2:Robotiq Vision System snapshot position and workplaneconcepts

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Wrist Camera -Instruction Manual

Info

SnapshotPosition Robot poseused to takesnapshotswiththeWrist Camera.

WorkPlane Areaof interest fortheVisionSystem.Fitsthefield of viewof theWrist Camera.

Object Object to locateusing theVision System.

Calibrationboard Grid provided withtheWrist Camera.Used inthecalibrationprocessof thesnapshot

position.

1.1.2.Object Location

To locateobjects,the VisionSystem usesthe Cam Locate node.Thefigure belowrepresentstheprocess.

Fig.1-3:Representation of theobject location process

Info

Object to locate Object to locateusing coordinate sx,y,and Rz(rotation).

Camera locaterelative frame Reference frame,asupdated bytheVisionSystem,used to locate anobject.

Robotbase reference frame Framecoordinatesdefined as[0,0,0].

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1.1.3.Wrist Camera

Thehardware of the Vision system istheRobotiq Wrist Camera.

Fig.1-4:Mainfeaturesof theWrist Camera

Hardware Specifications

CMOSimagesensorwithliquid lens

lResolution:0.3to 5Mpx

lFramerate:2to 30FPS

lFocus:70mm to ∞

6LED

lDiffusewhitelight

lAutomaticcontrol

10-m high flexcable

lUSB2.0

l24VDCpower

Tool flange:ISO 9409-1:20044 XM6 ø 50mm bolt pattern

lWrist Camera ismounted on thetool flange

lGrippersare mounted ontheWrist Camera

Info

TheRobotiq Wrist Cameraprovidesadirect mounting interfacefor grippers,including a mechanical interface,24Vpower

and gripper/robot communicationcapabilities.

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2.Safety

Warning

Theoperator must haveread and understood all of theinstructionsin thefollowing manual beforeoperating theRobotiq

Wrist Camera.

Caution

Theterm “ operator” refersto anyoneresponsible for anyof thefollowing operationson theRobotiq Wrist Camera:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

Thismanual coversthevariouscomponentsof theRobotiq Wrist Cameraand thegeneral operationsregarding thewholelife-cycleof

theproduct,from installation to operation and decommissioning.

Thedrawingsand photosinthismanual arerepresentativeexamples.However,discrepanciesmaybe observed betweenthevisual

supportsand theactual product.

Wrist Camera -Instruction Manual

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2.1.Warning

Caution

Anyuseof theWrist Camerainnon-compliancewith these warningsisdeemed inappropriateand maycause injuryor

damage.

Warning

TheWrist CameraVision System used inhuman-robot collaboration must not be considered a complete safetymeasure,

additional dedicated safetydevice(s)must be considered.Vision System failurecan occurand result in dangerforworkersor

machineryif not properlysecured.Seelocal or international safetymeasureforhuman-robot collaboration.

Warning

lSecured theWrist Camerabeforeoperating therobot.

lDo not install oroperate aWrist Camerathat isdamaged orlacking parts.

lOnlysupplydirect current to theWrist Camera.

lMakesureall cordsaresecured at both theWrist Cameraand therobot levels.

lAlwaysrespect therecommended keying for electrical connections.

lBeforerunning aprogram,makesurethat neitherobstaclesnorpeoplearein therobot path.

lAll local safetymeasuresand/or lawsonrobot operation must be applied to theVision System.

lAvoid looking straight at theLED whentheyareturned on,asthismaycausedazzlement.

lAnyuseof theVisionSysteminnoncompliance withthesewarningsisinappropriate and maycauseinjuryor damage.

2.1.1.Riskassessment andintendeduse

The Vision System is designed to locate objects laying flat on the defined workspace.The system can identify and locate multiple kind

of objects,each object will requireitsownobject teaching processasexplained intheObject Teaching section .TheVision system gets

theobject'sposition (x,y)and orientationalong thezaxis.It allowsto operatetherobot according to theobject location.

Tip

TheSnapshotPositionsection will giveyou adviceonwhat workspace should beused oravoided.Object Teaching section

will giveyouadvice onwhat objectscanbelocated ornot,including recommendationsonusing backgrounds.

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Wrist Camera -Instruction Manual

Caution

TheVision System isnot intended for metrologyapplications.

Note

Alwayscomplywithlocaland/or nationallaws,regulationsand directivesonautomation safetyand general machinesafety.

Theunit maybeused onlywithintherangeof itstechnicalspecifications.Anyotheruseof theproduct isdeemed improperand

unintended use.Robotiq will not be liableforanydamagesresulting from anyimproperorunintended use.

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3.Installation

Thefollowing subsectionswill guideyouthroughtheinstallationand general setup of yourRobotiq Wrist Camera.

Warning

Beforeinstalling:

lRead and understand thesafetyinstructionsrelated to theVisionSystem.

lVerifyyourpackageaccording to thescopeof deliveryand yourorder.

lMakesureto have therequired parts,equipment and toolslisted in Scopeof delivery.

Warning

Wheninstalling:

lMeet therecommended environmental conditions.

lDo not operate theVisionSystem,oreventurnonthepowersupply,beforethedeviceisfirmlyanchored and themachine

areaiscleared.Makesurethat theairsupplyissecured.

3.1.Scope of Delivery

3.1.1.RWC-UR-KIT

IncludestheWrist Cameraand required hardware.

lRobotiqWrist Camerawith 10-m high flexcable

lUniversal RobotspatternTool plate

l16Gb USBstick

lUSBsoftwarelicensedongle

l4-port USBhub

lCalibrationboard

lColored background for object teaching

lHardwarekit to mount theWrist Camerato UniversalRobots.

lWrist Camera Tagsfor Visual Offset (5)

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3.1.2.CUR-AGC-085-RWCorCUR-AGC-140-RWC

Includesa2-FingerAdaptiveGripperand aWrist Camera.

lWrist Camera Kit forUniversal Robotsincludes:

lRobotiqWrist Camerawith 10-m high flexcable

l16Gb USBstick

lUSBsoftwarelicensedongle

l4-port USBhub

lCalibrationboard

lColored background for object teaching

lHardwareto mount theWrist Camerato robots.

lWrist Camera Tagsfor Visual Offset (5)

lGripperparts:

lBasicGripperunit (85or140)AGC-GRP-002or -140(depending on selected combo)

lScrewsto mount gripperonWrist Camera

3.2.Required Toolsand Equipment

lThefollowing toolsarerequired to install theWrist Camera:

o2 mm slotted screwdriver to perform terminal blockconnectionswhenwiring.

lProvided toolswiththeWrist Camera:

o4 mm hexkeyto mount the Wrist Cameraon aUniversal Robotsmodel.

lIf installing withCUR-AGC-085-RWCorCUR-AGC-140-RWC:

oUse theprovided 4 mm hexkey.

lThefollowing partsarerequired forsetup:

oA Universal RobotsUR3,UR5orUR10model,along with itscontroller

Warning

OnlycompatiblewithcontrollerversionCB3.1and later.

Tip

Makesureyouhave thelatest Polyscope versioninstalled inorderto install theURCaps.

oPowersupplyif not using a Universal Robotscontrollersupply(seebelow);

oFuse,seeinformationbelow.

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Wrist Camera -Instruction Manual

The Wrist Camera needs to be supplied by a DC voltage source. This power supply is not included with the Wrist Camera Kit for

Universal Robots. Required power supply must match the Robotiq device.The following table showsthe specificationswith regards to

thepowersupplyrequired to operatetheWrist Cameraand theoptional Robotiq gripper.

SPECIFICATION VALUE

Output voltage 24VDC±10%

Output current 2A

Overcurrent Recommended powersupplywithinternal protection,otherwise

fusing isrequired.

4A fuseat 25°C[77°F]1

Table3-1:Robotiq Wrist Cameraand gripperpowersupplyrequirements.

Info

1Suggested fuse isa:PhoenixContact #0916606,4A Thermal Breaker.UseAWG #20wiring.

Warning

If yourpowersupplyexceedsthespecified regulation,over-voltageprotectionisrequired.

Robotiq recommendsusing thispowersupply:

lForthe2A output current:TDK-LambdaDPPSeries,50W SingleOutput DIN Rail Mount PowerSupply:DPP50-24.

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3.3.Environmental and OperatingConditions

TheWrist Cameraisdesigned for industrialapplications.Alwaysrespect thefollowing specified operating environmental conditions:

CONDITION VALUE

Minimum storage -30°C[-22°F]

Maximum storage 70°C[158°F]

Minimum operating

temperature 0°C[32°F]

Maximum operating

temperature 50°C[122°F]

Humidity(non-condensing) Non-condensing.

IP Rating IP67

Others Lensesmust be freefrom dust,soot and water.

Environment must be freefrom powerful electromagnetic

interference.

Environment must be freefrom corrosiveorexplosiveliquids or

gases.

Table3-2:Environmental and operating conditionsfor theWrist Camera.

3.4.Mechanical Installation

3.4.1.Mounting the Wrist Camera withan end-effectoron UniversalRobots

1. Place theWrist Camera(RWC-CAM-001)on therobot arm.Alignthewrist camera'sdowel pin withtool flange.

2. Place thetool plate (RWC-TOOL-062)on theWrist Camera.Align thetool plate dowel pin withtheWrist Camera.

3. Mount end-effector onrobot arm,using M6screwsthat passthrough thetool plateand theWrist Camera.

4. Attach cablealong robot arm.

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Wrist Camera -Instruction Manual

Fig.3-1:Mounting theWrist Camerakit on Universal Robots

Info

Theend-effector issecured directlyinthetool flangeof therobot arm.BoththeWrist Cameraand thetool plate are fitted

withclearance holesforthisassembly.M6screwsto mount anend-effectorontheWrist Cameraarenot provided.Use M6

screwsof appropriate lengthto secureend-effectoronrobot arm.

Caution

Whenmounting onlyaWrist Cameraona robot,thespring pinsused to connect to grippersareexposed.Handlethem

carefully.

Warning

Wrist Camera must be oriented properly.

Do not offset theWrist Camera from theTool CenterPoint onthe Xand Yaxes,oraround the Zaxis.

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3.4.2.Mountingthe Wrist Camerawitha Gripperon UniversalRobots

To mount aWrist Cameraand a Robotiq Adaptive Gripperona Universal Robotsmachine,followthese instructions,and referto the

figurebelow:

1. PlacetheWrist Camera(RWC-CAM-001)ontherobot arm.AligntheWrist Cameradowelpinwithtool flange.

2. Mount Wrist Cameraontool flangeusing theprovided screwsand lockwashers.

3. Mount gripper on theWrist Camerausing the provided screwsand lockwashers.

4. Attach cablea long robot arm.

Fig.3-2:Mounting bothaWrist Cameraand a 2-FingerAdaptive Robot Gripperon aUniversal Robotsrobot.

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ROBOTIQ Wrist Camera User manual

ROBOTIQ Wrist Camera User manual

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