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Robotiq Wrist Camera
for Universal Robots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2020Robotiq Inc.
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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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
© 2016-2020Robotiq Inc.All rightsreserved.
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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