ROBOTIQ Wrist Camera Original Notice

Robotiq Wrist Camera for Universal Robots Instruction Manual

3 2. Revisions 5 3. General Presentation 8 3.1. VisionSystem Components 8 4. Safety 12 4.1. Warning 12 4.2. Intended Use 14 5. Installation 15 5.1. Scope of Delivery: Wrist Camera KitsforUniversalRobots 16 5.2. Required Toolsand Equipment 17 5.3. Environmentaland Operating Conditions 18 5.4. MechanicalInstallation 19 5.5. ElectricalSetup 21 5.6. Software 23 6. Snapshot Position 29 6.1. Launching the Calibrationand Snapshot PositionWizard 29 6.2. Choosing a CalibrationMethod 29 6.3. Saving the Snapshot Position 33 7. Object Teaching 35 7.1. GuidelinesonObject Teaching 35 7.2. TeachObject Wizard 37 8. Cam Locate Node 94 8.1. Programming a Cam Locate Loop 95 8.2. LinearMove withFeature 96 8.3. object_locationpose 97 8.4. Edit DetectionThreshold and Object Location 100 8.5. Using a Variable Snapshot Position 103 8.6. Auto Pick 105 8.7. Camera Locate Settings 106 9. Scan Code Node 108 9.1. Supported Typesof Codes 108 9.2. GuidelinesonReading Codes 109 Robotiq Wrist Camera Instruction Manual 3

109 9.4. StringsData Stored inCSVfiles 110 10. Find Visual Offset and ApplyVisual Offset Nodes, and Defining Tags 111 10.1. Defining a Tag 111 10.2. Using a Tag ina Robot Program 112 10.3. Find Visual Offset Node 114 10.4. ApplyVisual Offset Node 115 11. Save Image Node 116 12. Specifications 118 12.1. MechanicalSpecificationsof Wrist Camera 119 12.2. Electricaland OpticalSpecificationsof the Wrist Camera 121 12.3. VisionSystem Specifications 122 13. Maintenance of the Wrist Camera 127 14. Spare Parts, Kitsand Accessories 128 15. Troubleshooting 129 16. Wrist Camera Warrantyand Patent 130 17. Wrist Camera Harmonized Standards, Declarationsand Certificates EB 17.1. Declarationof Incorporation EB 17.2. IngressProtectionCertificate EC 18. Contact ED Robotiq Wrist Camera Instruction Manual 4

changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at: robotiq.com/support. 2019-10-29 l Modified appearance of text boxes. l Added dynamic cross-references to sections of the Instruction Manual. l Section " Required Tools and Equipment l Modified electrical ratings shown inTable 1-1: Robotiq Wrist Camera and gripper power supply requirements l Updated recommended optional equipment l Subsection " Snapshot Position" : l Rewrote subsection with a more detailed workflow l Added screenshots and printing specifications for the calibration board l Section " Cam Locate Node" : l Renamed subsection " Settings" to " Camera Locate Settings" l Added typical use tips for options under the " Camera Locate Settings" window l Added " Autopick" subsection l Section " Scan Code Node" : l Added subsection " Guidelines on Reading Codes" l Added subsection " Strings Data Stored in CSV files" l Section " Intended Use" : since barcodes and 2D codes is now supported by the Wrist Camera, URCap, removed a sen- tence that mentionned it was not. l Section " Object Teaching" : removed all mentions of the play button and question mark button which were used to access contextual help contents. This contextual help has since been removed from the Wrist Camera URCap. 2019-10-24 l Fixed numbering error in Table of Contents. l Streamlined instructions in many instances, with lighter formatting. 2019-10-17 l Renamed section " Programming with the Camera Locate Node" to " Cam Locate Node" . l Added sections: l Save Image Node l Scan Code Node l Find Visual Offset and Apply Visual Offset Nodes, and Defining Tags Robotiq Wrist Camera Instruction Manual 5

l In " Cam Locate Node" l Programming a Cam Locate Loop l Settings l In " Snapshot Position" l Choose Calibration Method l Added two SKU to section " Spare Parts, Kits and Accessories" l ACC-TAG-1BAG5 l ACC-TAG-5BAG5 (partners only) 2019-05-08 Updated section 5. Gripper Clearance Validation feature added. 2019-03-07 Updated section 5 and all pertaining subsections; major changes to the Camera settings. Align-to-axis and Align over features added. 2018-09-10 Updated section 3, 5 and 6 according to the PolyScope version of the user (CB-Series vs. e-Series). Updated section 5 and all pertaining subsections; major changes to the Teach object wizard (color validation layer masks, multiple object detection, e-Series support). 2018-05-01 Updated section 5 and all pertaining subsections; major changes to the Teach object wizard 2018-03-26 Updated Section 3.6.2 for Update and uninstall 2017-06-07 Updated Section 3.6 for URCap package installation procedure Updated Section 4.2 for calibration process Updated Sections 5.2, 5.2.1, 5.2.2, 5.2.3 for new and improved teaching methods. Added Section 6.2 to use advanced programming with the vision system. Updated technical specifications (Section 7.3). Updated calibration board for UR5 and UR10 robots (Section 4) 2016-11-16 Robotiq Wrist Camera Instruction Manual 6

Updated installations instructions (section 4) Added Troubleshooting instructions (section 9.1) 2016-08-26 First release Robotiq Wrist Camera Instruction Manual 7

The terms " Camera" and " Wrist Camera" used in the following manual all refer to the Robotiq Wrist Camera, while the terms " Vision" and " Vision System" used in the following manual all refer to the Robotiq Wrist Camera Vision System for Universal Robots. The Vision System uses the Robotiq Wrist Camera and the Cam Locate software on Universal Robots to provide you with a simple object teaching interface. The interface allows to set up the Vision System so it can recognize object locations and orientations automatically. It locates one object at a time on a predefined workplane, gets the object position (x, y)and orientation along the z-axis, and allows to operate the robot according to the object location. The Wrist Camera is designed for industrial applications in combination with Robotiq adaptive grippers. Info This manual uses the metric system. Unless otherwise specified, all dimensionsare inmillimeters. Caution The following section presents the key features of the product, and must not be considered as appropriate to its operation. Product features are detailed in relevant sections of the Instruction Manual. Read and understand safety guidelines before attempting to use your product. 3.1. Vision System Components Fig. 3-1 below describes the various components of the Robotiq Vision System for Universal Robots. This system will use the Robotiq Wrist Camera, used with any of these mentioned Universal Robots versions (UR3, UR5, UR10). The system is compatible with the CB3.1 controller or later, as well as with any e-Series releases. For a list of provided components with your Robotiq Wrist Camera kit for Universal Robots, see section Scope of Delivery: Wrist Camera KitsforUniversal Robotson page 16. Caution The Robotiq Vision System is only compatible with Universal Robots with a robot controller version CB3.1 or later, as well as with any e-Series releases. To identify your robot controller, contact your Universal Robots representative. Fig. 3-1: Schematic representation of the Robotiq Wrist Camera Vision System hardware. Robotiq Wrist Camera Instruction Manual 8

Robotiq Wrist Camera Automatic 5 Mpx camera fitted with LED and made for collaborative robots, either independently or with an end-effector. end-effector Tool incorporated to a robot arm via its tool flange. robot arm Any collaborative robot. robot controller Computer that controls the robot, its end-effector and/or third party devices. 3.1.1.Snapshot Position and Workspace Fig. 3-1 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. the workspace. Seesection Snapshot Positionon page 29 for details on how to teach the snapshot position. Fig. 3-2: Schematic representation of the Robotiq Vision System snapshot position and work plane concepts. And Now, Some Terminology snapshot position Robot pose used to take snapshots with the Wrist Camera. workplane Area of interest for the Vision System. Fits the field of view of the Wrist Camera. object Object to locate using the Vision System. calibrationboard Grid provided with the Wrist Camera. Used in the calibration process of the snapshot position. Table 3-1: Terminology of the Vision System. Robotiq Wrist Camera Instruction Manual 9

3 summarizes this process. Fig. 3-3: Schematic representation of the object location process. And Now, Some Terminology object to locate Object to locate using coordinates x, y, and Rz (rotation). camera locate relative frame Reference frame, as updated by the Vision System, used to locate an object. robot base reference frame Frame coordinates defined as [0, 0, 0]. Table 3-2: Terminology of the object location process. 3.1.3.Wrist Camera The hardware at the heart of the Vision System is the Robotiq Wrist Camera illustrated in the . For installation instructions, section Wrist Camera on page 10. Robotiq Wrist Camera Instruction Manual 10

Hardware Specifications CMOS image sensor with liquid lens l Resolution: 0.3 to 5 Mpx l Frame rate: 2 to 30 FPS l Focus: 70mm to ∞ 6 LED l Diffuse white light l Automatic control 10-m high flex cable l USB 2.0 l 24V DC power tool flange: ISO 9409-1:2004 4 X M6 ø 50mm bolt pattern l Wrist Camera is mounted on the tool flange l Grippers are mounted on the Wrist Camera Table 3-3: Some hardware specifications of the Wrist Camera. Info The Robotiq Wrist Camera provides a direct mounting interface for grippers, including a mechanical interface, 24V power and gripper/robot communication capabilities. Robotiq Wrist Camera Instruction Manual 11

Camera. Info Operators are responsible for the following operations on the device: installation, control, maintenance, inspection, calibration, programming, decommissioning. This Instruction Manual presents components of the Vision System, and general operations regarding the whole life- cycle of the product through installation, operation, and decommissioning. Drawings and photos in this Instruction Manual are typical examples, and the actual product may differ. 4.1. Warning Caution Please comply with warnings contained in current document. Any other uses are inappropriate and may cause injury or damage. Warning The Wrist Camera Vision System used in human-robot collaboration must not be considered a complete safety measure, additional dedicated safety device(s)must be considered. Vision System failure can occur and result in danger for workers or machinery if not properly secured. See local or international safety measure for human-robot collaboration. Robotiq Wrist Camera Instruction Manual 12

l Do not install or operate a Wrist Camera that is damaged or lacking parts. l Only supply direct current to the Wrist Camera. l Make sure all cords are secured at both the Wrist Camera and the robot levels. l Always respect the recommended keying for electrical connections. l Before running a program, make sure that neither obstacles nor people are in the robot path. l All local safety measures and/or laws on robot operation must be applied to the Vision System. l Avoid looking straight at the LED when they are turned on, as this may cause dazzlement. l Any use of the Vision System in noncompliance with these warnings is inappropriate and may cause injury or damage. Robotiq Wrist Camera Instruction Manual 13

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 require its own object teaching process as explained in section Object Teaching on page 35. The Vision System gets the object's position (x, y)and orientation along the z axis. It allows to operate the robot according to the object location. Tip section GuidelinesonSnapshot Positionon page 34 will give you advice on what workspace should be used or avoided. section Object Teaching on page 35 will give you advice on what objects can be located or not, including recommendations on using backgrounds. Caution The Vision System is not intended for metrology applications. Note Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety. The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use. Robotiq Wrist Camera Instruction Manual 14

l To verify your Wrist Camera package, see section Scope of Delivery: Wrist Camera KitsforUniversal Robotson page 16. l For a list of required hardware for your Wrist Camera, see section Required Toolsand Equipment on page 17. l Details on the operating range of the Wrist Camera can be found in section Environmental and Operating Conditions on page 18. l To find out how to mount your Wrist Camera on your robot, see section Mechanical Installationon page 19. It also includes information on coupling it with another end-effector. l Details on electrical wiring and specifications, as well as tips on cable management, are provided in section Electrical Setup on page 21. l To install your Wrist Camera software, see section Software on page 23. Warning Before installing : l Read and understand the safety instructions related to the Vision System. l Verify your package according to the scope of delivery and your order. l Have the required parts, equipment and tools listed in the requirements ready. Warning When installing : l Meet the environmental conditions. l Do not operate the Vision System, or even turn on the power supply, before the Wrist Camera is firmly secured, and the dangerzone is cleared. Robotiq Wrist Camera Instruction Manual 15

5.1.1.RWC-UR-KIT Includes the Wrist Camera and required hardware. l Robotiq Wrist Camera with 10-m high flex cable RWC-CAM-001 l Universal Robots pattern tool plate RWC-TOOL-062 l 16 Gb USB stick ACC-USB-16G l USB software license dongleACC-USB-DONGLE l 4-port USB hub ACC-USB-4-HUB l Calibration board ACC-CALIB-BOARD l Colored background for object teaching ACC-TEACH-BACK l Hardware kit to mount the Wrist Camera to Universal Robots. 5.1.2.CUR-AGC-085-RWCor CUR-AGC-140-RWC Includes a 2-Finger Adaptive Robot Gripperand a Wrist Camera. l Wrist Camera Kit for Universal Robots includes: l Robotiq Wrist Camera with 10-m high flex cable RWC-CAM-001 l 16 Gb USB stick ACC-USB-16G l USB software license dongle ACC-USB-DONGLE l 4-port USB hub ACC-USB-4-HUB l Calibration board ACC-CALIB-BOARD l Colored background for object teaching ACC-TEACH-BACK l Hardware to mount the Wrist Camera to robots. l Gripper parts: l Basic Gripper unit (85 or 140)AGC-GRP-002 or -140 (depending on selected combo) l Screws to mount gripper on Wrist Camera. Robotiq Wrist Camera Instruction Manual 16

The following tools are required to install the Wrist Camera: l 2 mm slotted screwdriver to perform terminal block connections when wiring. Provided tools with the Wrist Camera: l 4 mm hex key to mount the Wrist Camera on a Universal Robots model. Optional tools if installing with CUR-AGC-085-RWC or CUR-AGC-140-RWC: l None. Use the provided 4 mm hex key. The following parts are required for setup: l A Universal Robots UR3, UR5 or UR10 model, along with its controller Warning Only compatible with controller version CB3.1 and later. l Universal Robots PolyScope version must be 3.9 or later in order to install the URCap. l Power supply if not using a Universal Robots controller supply (see below); l Fuse, see information below. 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 shows the specifications with regards to the power supply required to operate the Wrist Cameraand the optional Robotiq gripper. SPECIFICATION VALUE Output voltage 24 V DC ±10% Output current 2 A Overcurrent Recommended power supply with internal protection, otherwise fusing is required. 4 A fuse at 25°C [77°F]1 Table 5-1: Robotiq Wrist Camera and gripper power supply requirements. Info 1Suggested fuse is a: Phoenix Contact # 0916606, 4A Thermal Breaker. Use AWG #20 wiring. Warning If your power supply exceeds the specified regulation, over-voltage protection is required. Robotiq recommends using this power supply: l For the 2A output current: TDK-Lambda DPP Series, 50W Single Output DIN Rail Mount Power Supply: DPP50-24. Robotiq Wrist Camera Instruction Manual 17

The Wrist Camera is designed for industrial applications. Always respect the following 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 Lenses must be free from dust, soot and water. Environment must be free from powerful electromagnetic interference. Environment must be free from corrosive or explosive liquids or gases. Table 5-2: Environmental and operating conditions for the Wrist Camera. Robotiq Wrist Camera Instruction Manual 18

5.4.1.Mounting the Wrist Camera With a End-Effector on Universal Robots Info To mount the Wrist Camera with either an adaptive gripper, see section Mounting the Wrist Camera With a GripperonUniversal Robotson page 20. 1. Place the Wrist Camera (RWC-CAM-001) on the robot arm. Align the Wrist Camera dowel pin with tool flange. 2. Place tool plate (RWC-TOOL-062) on Wrist Camera. Align the tool plate dowel pin with Wrist Camera. 3. Mount end-effector on robot arm, using M6 screws that pass through the tool plate and the Wrist Camera. 4. Attach cable along robot arm. For details, see section Cable Management on page 23. Fig. 5-1: Mouting the Wrist Camera kit on Universal Robots. Info The end-effector is secured directly in the tool flange of the robot arm. Both the Wrist Camera and the tool plate are fitted with clearance holes for this assembly. M6 screws to mount an end-effector on the Wrist Camera are not provided. Use M6 screws of appropriate length to secure end-effector on robot arm. Caution When mounting only a Wrist Camera on a robot, the spring pins used to connect to grippers are exposed. Handle them carefully. Robotiq Wrist Camera Instruction Manual 19

Do not offset the Wrist Camera from the tool center point onthe X and Y axes, or around the Zaxis. 5.4.2.Mounting the Wrist Camera With a Gripper on Universal Robots To mount a Wrist Cameraand a Robotiq adaptive gripper on a Universal Robots machine, follow these instructions, and refer to the figure below: 1. Place the Wrist Camera (RWC-CAM-001) on the robot arm. Align the Wrist Camera dowel pin with tool flange. 2. Mount Wrist Camera on tool flange using the provided screws and lock washers. 3. Mount gripper on the Wrist Camera using the provided screws and lock washers. 4. Attach cable along robot arm. For details, see section Cable Management on page 23. Fig. 5-2: Mounting both a Wrist Camera and a 2-Finger Adaptive Robot Gripper on a Universal Robots robot. Robotiq Wrist Camera Instruction Manual 20

5.5.1.Pinout Interface The Wrist Camera interfaces with an end-effector (e.g. a Robotiq adaptive gripper)via a 10-spring pin connector located on its outer surface. 5.5.2.Power Supply Caution If mounting a 2-Finger Adaptive Robot Gripper on the Wrist Camera, the latter acts as a gripper coupling. Therefore, only the Wrist Camera device cable is required to provide power and communication to both itself and the gripper. Wiring setups are identical whether you use the Wrist Camera alone, or with an end-effector. Power and communication are established with the Wrist Camera via the 10-m high flex cable. It provides 24V power supply to the Wrist Camera and enables USB 2.0 communication with the Universal Robots controller. Follow these instructions to wire into the Universal Robots controller : 1. Turn off the robot controller. 2. Connect the 10-m high flex cable to the robot controller. Use any available 24V and 0V slots. See Fig. 5-3 l Connect the red wire (24V). l Connect the black wire (0V). Fig. 5-3: Power supply wiring on CB3.1 Universal Robots controller. Robotiq Wrist Camera Instruction Manual 21

4. Connect the Wrist Camera USB cable to the 4-port USB hub. 5. Connect the USB license dongle (ACC-USB-DONGLE)to the 4-port USB hub. Fig. 5-4: Connecting to the 4-port USB hub. Tip Wrist Camera grounding is optional and is done via the robot ground. The Wrist Camera dowel pin acts as ground connector. Robotiq Wrist Camera Instruction Manual 22

along all axes without pulling out connectors. Always protect the controller side of the cable connection with a strain relief cable clamp. 5.6. Software Make sure the Wrist Camera is properly mounted on the robot arm and that all electrical wiring is correctly done (see section Mechanical Installationon page 19 and section Electrical Setup on page 21). Make sure your Universal Robots software is up-to-date. PolyScope must be version 3.9 or later in order to install a URCap. l For details on installing software, see section Installationon page 15. l To update or uninstall software, see section Update and Uninstall on page 27. Warning Do not disconnect the 16 Gb USB stick or the USB license dongle from the robot controller, even after the installation has been completed. Tip Before using your Universal Robots, adjust the center of mass and payload from the Installation tab. For details, see section Mechanical Specificationsof Wrist Camera on page 119. Robotiq Wrist Camera Instruction Manual 23

Make sure the Wrist Camera is properly mounted to the robot arm and that all electrical wiring is correctly done (see section Mechanical Installationon page 19 and section Electrical Setup on page 21). Make sure your Universal Robots software is up-to-date. The Wrist Camera URCap is compatible with PolyScope 3.9 and later versions. Tip For details on updating your URCap, see section Update and Uninstall on page 27. 1. Go to robotiq.com/support. 2. Click Select Product > Wrist Camera > Universal Robots > Software > Wrist Camera Software > DOWNLOAD ZIP. This downloads the latest UCC-X.X.X compressed file. 3. Decompress the content of the latest UCC-X.X.X compressed file on the provided 16 Gb USB stick (ACC-USB-16G). 4. Place the.urcap file and the Vision System folder on the root of the USB drive, as shown in Fig. 5-5. Fig. 5-5: Save these files at the root of the 16 Gb USB stick. l With the robot controller ON, connect the 16 Gb USB stick containing the latest URCap and Vision System to the 4- port USB hub. Fig. 5-6: Connecting to the 4-port USB hub. Robotiq Wrist Camera Instruction Manual 24

1. Tap Setup Robot > URCapsSetup > , and select Robotiq_Wrist_Camera-X.X.X.urcap from the USB stick. 2. Tap , and wait for PolyScope to reboot. 3. Tap Program Robot > Installation > Camera > Dashboard tab. 4. Check status of the Vision System. For e-Series: PolyScope 5.3 and later 1. Tap > Settings > System > URCaps > , and select Robotiq_Wrist_Camera-X.X.X.urcap from the USB stick. 2. Tap , and wait for PolyScopeto reboot. 3. Tap Installation > URCaps > Camera > Dashboard. 4. Check status of the Vision System. Fig. 5-7: The Camera dashboard indicates the Vision System has been correctly installed. 1. Tap Install. The Vision System installation starts. 2. If the firmware has to be updated, tap Upgrade Camera firmware. For details, see section Update and Uninstall on page 27. Fig. 5-8: The Camera tab indicates you must update the Wrist Camerafirmware. 1. Wait for the Vision System to start. 2. The installation is completed. 3. In order to use another USB drive on the controller, reboot the robot controller. Warning Do not disconnect the 16 Gb USB stick or the USB license dongle from the robot controller, even after the installation has been completed. Tip The Dashboard tab contains helpful information for troubleshooting the Vision System. Robotiq Wrist Camera Instruction Manual 25

After the installation has been completed, follow these instructions to check that the Vision System works as expected. For CB-Series: PolyScope 3.9 and later 1. From a robot program, go to Installation tab > Camera> Dashboard. 2. Check system status. Make sure the Vision System is running. 3. Go to the Camera tab. The output image will appear. For e-Series: PolyScope 5.3 and later 1. Tap Installation> URCaps > Camera > Dashboard. 2. Check the system status. Make sure the Vision System is running. 3. Go to the Camera tab. The output image will display. Tip Before using your Universal Robots, adjust the center of mass and payload from the Installation tab. For details, see section Mechanical Specificationsof Wrist Camera on page 119. Robotiq Wrist Camera Instruction Manual 26

Warning Updating the Wrist Camera software, unplugging the USB storage device and/or switching USB ports must alwaysbe done while the robot is initialized and running. Version 1.1and later For CB-Series: PolyScope 3.9 and later 1. From a robot program, go to the Installation tab > Camera > Dashboard > Stop camera > Uninstall. 2. Remove the 16 Gb USB stick containing the URCap and Vision Server from the 4-port USB hub. 3. Tap Setup Robot> URCapsSetup. 4. In the Active URCaps text box, select the Camera URCap. 5. The Camera URCap is highlighted. 6. Tap to uninstall the URCap. 7. Tap to complete the uninstall process. The robot controller reboots. 8. Connect to a PC the 16 Gb USB stick containing the URCap and Vision Server. 9. Format USB stick in FAT32 format. 10. See section Installationon page 15 to install the latest software. For e-Series: PolyScope 5.3 and later 1. Tap the Installationtab > URCaps> Camera > Dashboard > Stop camera > Uninstall. 2. Remove the 16 Gb USB stick. 3. Tap > SettingsSystem > URCaps. 4. In the Active URCaps textbox, select the Camera URCap. 5. The Camera URCap is highlighted. 6. Tap to uninstall the URCap. 7. Tap to complete the uninstall process. The robot controller reboots. 8. Connect to a PC the 16 Gb USB stick containing the URCap and Vision Server. 9. Format USB stick in FAT32 format. 10. See section Installationon page 15 to install the latest software. Version 1.0.2 and earlier 1. Copy the following file : urmagic_uninstall.sh to a blank USB stick. 2. From a robot program, go to the Installation tab > Camera > Camera > Stop Camera. 3. With the controller on, insert the USB stick containing the urmagic file into the Teach PendantThe uninstallation procedure starts automatically. Robotiq Wrist Camera Instruction Manual 27

5. Remove the 16 Gb USB stick containing the Vision Server. 6. Go to Setup Robot > URCapsSetup. 7. In the Active URCaps text box, tap the Camera URCap. 8. The Camera URCap is highlighted. 9. Tap to uninstall the URCap. 10. Tap to complete the uninstall process. The robot controller reboots. 11. Connect to a PC the 16 Gb USB stick containing the URCap and Vision Server. 12. Format USB stick in FAT32 format. 13. See section Installationon page 15 to install the latest software. Robotiq Wrist Camera Instruction Manual 28

Prior to teaching objects with the Cam Locate URCap node (see section Cam Locate Node on page 94), the operator must define a snapshot position using the Snapshot Position wizard. For more details on the concepts of snapshot position, work plane, and calibration board, see Table 3-1:Terminologyof the VisionSystem. on page 9 6.1. Launching the Calibration and Snapshot Position Wizard Go to the Installation tab > URCaps > Camera > Snapshot, select a feature point from the dropdown list, and tap . To create a feature point, follow these instructions: 1. Go to the Installation tab > Features > Point. 2. Select the created point from the features in the list. 3. CB-Series models only: check the Variable box. 4. Tap Set point > OK. Tip The position of this feature point is not critical; your robot can be repositioned in later stages of the calibration and snapshot position process. 5. Tap Rename to give a meaningful name to your feature point. 6. Save the Installation file. This feature point will be assigned as a reference for the snapshot position process. After completing the calibration process, this feature point is removed from the dropdown list, and cannot be reused to create another snapshot position. Fig. 6-1: From the Snapshot tab, select a new feature point from the dropdown list Tip You can select a thumbnail displayed in a blue rectangle, as shown in Fig. 6-1. During the snapshot position process, you will be offered to move to the snapshot position linked to this thumbnail . 6.2. Choosing a Calibration Method When calibrating, three calibration methods are available. Robotiq Wrist Camera Instruction Manual 29

Using existing camera calibration and work plane. For objectson the same work plane. New Work Plane & Position Using existing camera calibration. For objectson a different work plane. Full Calibration New camera calibration, work plane and position. Before first use of the camera. Fig. 6-2: You can calibrate using one of three methods. Caution You first need to perform a Full Calibration. Afterwards, you will be allowed to select any calibration method. Robotiq Wrist Camera Instruction Manual 30

1. Place calibration board (ACC-CALIB-BOARD) on theWrist Camera work plane. Select the appropriate side for your Univer- sal Robots model (see Fig. 6-3 and Fig. 6-4). Fig. 6-3: This side of the calibration board is used for UR5 and UR10 Universal Robots models. Fig. 6-4: This side of the calibration board is used for UR3 Universal Robots models. Color dots are not currently used by Robotiq software. Info Calibration boards can be downloaded from robotiq.com/support. Select Wrist Camera > Accessories > Calibration Boards. From the dropdown list, choose either UR3or UR5 & UR10 > DOWNLOAD PDF. Tip To print a calibration board, follow these recommendations. l The official Robotiq two-sided calibration board is 357 mm x 278mm. Print as " Ledger/Tabloid" or " A3" formats. l Use matte paper. l The calibration board can be printed with colors, grayscale or black and white. l Do not scale the image. l After printing, use a ruler to measure the 100 mm line located at the bottom of the page. If your measure is not exactly 100 mm, the printed document cannot be used as a calibration board. 2. The " Define Camera Calibration" window is displayed. Tap Calibrate. Robotiq Wrist Camera Instruction Manual 31

Tip The button Hold to Align to Axis reorientates the Wrist Camera to make it parallel to an axis of the robot base. 3. The " Calibrating Camera" window is displayed, and the calibration process starts. Your robot moves around the calibration board, and the Vision System will take 27 pictures of the calibration board from different poses during 7-10 minutes. Then, 9 more pictures are taken for validating. 4. The " Verify Camera Calibration" window is displayed. Tap Accept to go to the next step, or tap Re-calibrate to redo the calibration process. You can see all pictures taken during the calibration process by scrolling through them with and . Robotiq Wrist Camera Instruction Manual 32

l Dark blue: local accuracy of +/-0mm. l Dark red: local accuracy of +/-4mm and over. If the accuracy is larger than +/- 4mm, you are told that you should recalibrate. Tap Accept to compelte the calibration process. 6.3. Saving the Snapshot Position Toggle grid display by tapping Show Grid or Hide Grid. Objects to locate must completely fill at least one grid square, as smaller objects are difficult to detect. To re-align the Wrist Camera at this step, tap Hold to Align Over or otherwise move it. It is usually easier to teach objects when the Wrist Camera is aligned with its work plane.This position represents the coordinates and orientation of the Wrist Camera when using its nodes. When you are done, tap Save Position. Once the calibration has been accepted, the snapshot position appears under the Snapshot tab with the same name as that of the feature point used for the calibration and snapshot process. To permanently save the created snapshot position, tap Load/ Save from the Installation tab, and save the Installation file. Robotiq Wrist Camera Instruction Manual 33

. Info l You can teach as many snapshot positions as required. l The snapshot positionrepresents the coordinates (x, y, z)and orientation (Rx, Ry, Rz) of the Wrist Camera. l A singlesnapshot position can be used to teach different objects. l After completing the teaching process (seesection Object Teaching on page 35), it is linked to the snapshot position; this locks the position. 6.3.1.Guidelineson Snapshot Position During the snapshot position process, ambient light must be of approximately 500 lux. At run-time, this condition is not required. Snapshot position used for teaching objects may be different than the one used in production. However, camera angles and distances should be similar. For example, conveyor areas are often hard to reach, causing object scanning issues. You can use a convenient area for object model teaching that will allow easy scanning. It is always possible to modify the final light and threshold adjustments at the runtime area. Set as True the variable ignore_snapshot_position. For details, see section Cam Locate Node on page 94. For best results when choosing your snapshot position, follow these recommendations: l Work plane l Mostly uniform color l Flat l Contrasts your part. For details, see section section VisionSystem Specificationson page 122. l Distance to work plane l Your snapshot position determines the field of view of the Wrist Camera, and thus, the work plane. l For details on field of view and parts size, see section VisionSystem Specificationson page 1. l Moving closer to the work plane reduces workspace, but makes it easier to locate smaller objects. l Moving away from the work plane increases workspace and widens the area where objects can be detected, but makes it more difficult to locate smaller objects. l Wrist Camera viewing angle l Wrist Camera should be perpendicular to work plane. l Select a snapshot position giving an overhead view of the object to locate, and setting a snapshot position to loc- ate objects from the side. Robotiq Wrist Camera Instruction Manual 34

Once the snapshot position is defined (see section Snapshot Positionon page 29), the operator can use the Cam Locatenode within a Universal Robots program to teach an object to locate. Requirements l You must have completed the installation steps of section Installationon page 15 l Have in hand a few samples of the object to teach. Info l One Cam Locate node is used per model taught . l Object teaching is linked to a snapshot position. Changing this position will require you to reteach the object. l The background used when teaching objects should provide a high contrast. You can use the yellow/pink background provided with the Wrist Camera. For details, see section Snapshot Positionon page 29. 7.1. Guidelineson Object Teaching Info During the object teaching, the ambient light must be approximately 500 lux, and stable. At runtime, this condition is not required. The following must be considered when going through the object teaching process : 7.1.1.For a reliable localization l Object is quasi-flat, respecting a maximum ratio of 1:1 between its height and its smallest dimension; see section VisionSystem Specificationson page 122 for more details. l Top surface is mostly flat. l Object has a distinctive shape (highly contrasts the background, is asymmetrical )and distinctive features (e.g. holes, drawings, contrasting colors). l Object has a matte finish. l Object is not translucent. Tip When teaching reflective objects, turn off LED to avoid bright, contrasting spots. 7.1.2.Choosing the appropriate background l Workplane around the object must be planar, mostly uniform and clear of any other objects. Robotiq Wrist Camera Instruction Manual 35

settings according to those conditions; refer to the Detectionthresholdsand scoresfor details. l The background around the object must be a uniform, continuous shape in a single color. Caution For the Vision System, white, gray and black are all gradients of gray. Avoid using a black background to teach metal objects. The model would be a pale gray object on a dark gray background, and would therefore result in errors. The Machine edge view feature shows edges seen by the Vision System in grayscale format. See section TeachObject Wizard on page 37 for more details. See section VisionSystem Specificationson page 122 for specifications on color contrast. Tip Runtime tips: l Use a simple, uniform background. l Your work plane should contain as few objects and object types as possible. This will decrease cycle time. l Ambient light should be diffuse. l Avoid high contrast light spots on your background. Light spots make object detection slower, and cause errors. Robotiq Wrist Camera Instruction Manual 36

Cam Locate To insert a Cam Locatenode in the robot program follow these instructions. CB-Series models 1. Start a new program or open yours, then go to the Program tab. 2. Tap the Structure tab URCaps > Cam Locate. e-Series models 1. From the ribbon, tap Newicon to create a robot program, or Opento load a program. 2. Select Program. 3. From the left navigation pane, tap URCaps. 4. Tap Cam Locate. 5. Select the node in the robot program, then tap the Command tab. 6. Tap Edit button to edit the node parameters. 7.2.1.Launching the Teach Object Wizard Info Snapshot position must be defined prior to launchin the object teaching wizard. For details, see section Snapshot Positionon page 29 The Teach object wizard will guide you through the process of teaching an object that will be located by the Wrist Camera. To launch the wizard, tap the Cam Locate node > Command > Teachobject. Fig. 7-1: The CB-Series Teach object wizard. Robotiq Wrist Camera Instruction Manual 37

l Automaticmethod: builds a model based on photos and a scan of the object. Best for complex and irregular shapes. Use this method if the object orientation has to be detected with one of its features. See section AutomaticMethod on page 38 for more details. l Parametricmethod: builds a model based on parameters of a basic 2D shape (circle, ring, square or rectangle). This method is faster and allows the vision system to recognize and locate with high robustness objects that have few dis- tinctive features such as raw material blanks. Usually gives better results than the Automatic Method for simple objects that are highly reflective. See section ParametricMethod on page 71 for more details. Fig. 7-2: Select either the Automatic or Parametric method to teach an object. 7.2.3.AutomaticMethod Caution A Snapshot position must be defined to launch the object teaching wizard. If no Snapshot position has been defined, see Snapshot Position. Selecting a Calibration Tap the Snapshot positionyou want to use. Info If the robot is not at the snapshot position, you will be prompted to move to it. Tap and hold the Move button to do so. Robotiq Wrist Camera Instruction Manual 38

Prior to selecting a model, the user will place a background on the workplane and then position the object on the background. By default, the Select Model step displays the object to teach, automatically selected by the software, meaning a green selection rectangle overlaps the shape of the object. MagicWand tool; see section AutomaticArea Selectionon page 40 for more details. Tap and drag tool; see section Manual Area Selectionon page 42 for more details. Zoom inbutton; see section Zooming Inon page 53 for more details. Zoom out button; see section Zooming out on page 54 for more details. Accept model button for finalizing the model selection step; see section Accepting the model on page 54 for more details. Camera settingsbutton; see Object Teaching for more details. Standard viewbutton; see section Standard Viewon page 42 for more details. Machine edge viewbutton; see section Machine Edge View on page 44 for more details. Machine colorview; see section Machine ColorViewon page 46 for more details. Automatic Area Selection The object is selected since the MagicWand tool is enabled by default. The Magic Wand feature allows to locate objects on the background without user intervention. Robotiq Wrist Camera Instruction Manual 40

and a single object with well defined edges. Fig. 7-4: Select Model step with object automatically selected by the Magic Wand tool. Info Centering an object in the field of view often provides the best edges detection. Tip Tapping toggles to Manual area selection mode. Tap to switch to the Machine View to visualize edges detections and to optimize part location, depending on lighting setup. Robotiq Wrist Camera Instruction Manual 41

Select an area by tapping the screen and dragging your finger over the object in the selection area. Fig. 7-5: Select Model step with Manual area selection feature Tip The manual area selection is useful for careful inspection of specific features using the zoom function. See section Zooming on page 53 for more details. The manual area selection can also be used for partial custom object selection (i.e. for selecting standalone features or components of an object). Tapping the Manual selectionbutton in the right pane toggles back to the " Automatic area selection" mode. Camera Viewing Modes The following viewing modes are available for the Wrist Camera: l Standard View l Machine Edge View l Machine Color view Standard View When in standard view mode, the camera feed displays a reasonably faithful image based on what is normally perceived by the human eye (colored object on colored background). Robotiq Wrist Camera Instruction Manual 42

Tip Tap in the upper right corner of the camera feed window to display the Machine view. Robotiq Wrist Camera Instruction Manual 43

The user can access the machine viewby tapping the Colorviewbutton in the upper right corner of the camera feed window. The machine view makes no discrimination between colors; it rather highlights the contour of the selected object. Fig. 7-7: Select Model step with Machine edge view enabled Tip The Machine edge view is a convenient tool that can be used to better understand the quality of the image and the object contrast, and to improve adjustments made to the selection. Tap to display the Machine colorview. Robotiq Wrist Camera Instruction Manual 44

in the bottom left corner of the camera feed. Camera LEDssetting; see Camera LED for more details. Camera Exposure setting; see Exposure for more details. Camera Focussetting; see Object Teaching for more details. Camera White Balance setting; see White Balance for more details. The setting is in the Automaticmode; please refer to the specific setting section for more details. The setting is in the Manual mode; see specific setting section for more details. The setting is in the Basicmode; see specific setting section for more details. The setting is in the Expert mode; see specific setting section for more details. Plusbutton increases a value. Minusbutton decreases a value. Camera LEDs are OFF; see section Camera LED on page 47 for more details. Retake button; the setting is reinitialized. Please refer to the specific set- ting section for more details Robotiq Wrist Camera Instruction Manual 45

The user can access the Machine colorviewby tapping the Machine edge viewbutton in the upper right corner of the camera feed window. The Machine color view displays the elementary colors perceived by the vision system. Fig. 7-8: " Select Model" step with Machine color view enabled. Tip The Machine color view helps to understand the color signature and scale used by the system. Tap to display the Standard view. Robotiq Wrist Camera Instruction Manual 46

The touch-sensitive slider can be used to select the right intensity more easily. (a) (b) (c) Fig. 7-9: Select Model step with LED option enabled; (a)Auto, (b)OFF, and (c)Manual Tip When turned ON, LED sometimes highlight undesirable features or create reflections that can mask desired features of the image. It is recommended to try multiple settings, including the ON/OFFmode, when teaching the object in order to select the most conclusive result. Warning The flash and focus settings selected will be used at runtime unless changes are made at the Configure Model step at the end of the teaching process. Please refer to the Configuring the Model for more details. Robotiq Wrist Camera Instruction Manual 47

(a) (b) Fig. 7-10: Select Model step with Exposure option enabled (Basic mode); (a)-3EV and (b)3EV For more control, the Expert mode also provides manual Exposure capability. It allows the user to directly modify the exposure or the gain and keep them fixed. A Retake button is also available in the Expert mode. This function enables to adjust the manual settings according to the last automatic exposure value. If the Manual mode is selected, the exposure time (μs)and the gain can be modified independently. The exposure time is the duration (in microsecond)of the sensor’s light exposure. On the other hand, the gain represents the electrical amplification of the analog signal from the camera sensor. It converts the analog signal to a digital signal. It should be noted that the amplification of the signal also increases the ambient noise. Fig. 7-11: Select Model step with Exposure option enabled (Expert and Manual modes enabled) It is possible to reduce or eliminate camera image flicker (also seen as vertical moving bands)by matching camera exposure time with illumination frequency. See the following table to match exposure time and current frequency (50/60Hz). Robotiq Wrist Camera Instruction Manual 48

Category 50 Hz 60 Hz Short Exposure 10.0 8.333 20.0 16.667 Medium Exposure 30.0 25.0 40.0 33.333 Long Exposure 50.0 41.667 60.0 50.0 N/A 58.333 Table 7-1: Suggested Exposure time versus Current Frequency (Hz). Tip To improve image quality, it is recommended to increase exposure time before increasing gain. Info The exposure value (EV)represents a combination of exposure time and digital gain. Simply put, increase EV to make images brighter. Robotiq Wrist Camera Instruction Manual 49

adjust the depth of field. The settings will be captured at runtime except if changes are made to the model during the Configure Model step. See section Configuring the Model on page 75 for more details. Automatic Focus Fig. 7-12: Select Model step with automatic focus option enabled. To some extent, the automatic focus feature detects sharpness in the overall image. If the image is blurry, the autofocus system will adjust the focus until sharpness and/or contrast is achieved. This type of automatic focus requires enough contrast between the object and the background for it to render an appropriate image. Robotiq Wrist Camera Instruction Manual 50

By clicking on the Auto button, the system makes an auto-focus before changing to the Manual mode status. The manual focus feature adjusts the depth of field at the focus point. By clicking on the Retake button, the system refreshes the focus to the optimal result. Tip The Focus adjustment slider is touch-sensitive. The position touched on the the slider area will determine the desired value. For finest possible adjustment, the +/- buttons can be used. White Balance White Balance is a parameter to get appropriate colors and better-defined shades of grey. It is always in Automatic but manual setting can be done in the Expert mode. This can be done by clicking on the Basic button. In this mode, three sliders, each representing a different color (red, green, blue)are available to adjust the level of their own color. Fig. 7-14: Select Model step with White Balance option enabled (Manual mode enabled) Robotiq Wrist Camera Instruction Manual 51

Tip When teaching metallic objects, using the pink mat will increase the contrast between the part and the background. Reduce the red channel and increase the green one to optimize the contrast of a shiny metallic object. Use the Machine View to adjust these parameters. Robotiq Wrist Camera Instruction Manual 52

(and object). ZoomingIn Fig. 7-16: Select Model step with Zoom in button highlighted In order to zoom in on the selection area, the user has to tap the magnifier with a plus symbol in the lower right corner of the teach pendant interface. Once zoomed in, the user can perform focus adjustments to improve the recognition of edges in the model. Info Note that when zoomed in, the user can neither change the area selection mode nor accept the model selected (the buttons are greyed out). The zoom in feature is therefore solely used for inspecting the model in details and for adjusting the depth of field via the manual focus settings. Robotiq Wrist Camera Instruction Manual 53

In order to zoom out from the selection area, the user has to tap the magnifier with a minus symbol in the lower right corner of the teach pendant interface. Accepting the model To accept the model, and proceed to the next step of the wizard, tap . Fig. 7-18: Select Model step with Accept button highlighted Robotiq Wrist Camera Instruction Manual 54

After accepting a model, the camera automatically zooms in on selected object . Tools are available. Outline onlyselection mode; please refer to the Object Teaching for more details. Outline & surface selection model please refer to the Object Teaching for more details. Rectangle selectionaround object please refer to the Object Teaching for more details. Markertool; please refer to the Object Teaching for more details. Erasertool; please refer to the Object Teaching for more details. Rectangle+ (add area)tool; please refer to the Object Teaching for more details. Accept model button; please refer to the Accepting the model for more details. Delete selectionarea button; please refer to the Accepting the model for more details. Info For details on toggling color/machine view while editing a model, see To ternate between color and machine view while editing the model, see section Object Teaching on page 35. Robotiq Wrist Camera Instruction Manual 56

Tap the arrow to the left of the quick selection tool to expand the selection modes menu. Fig. 7-19: Edit Model step with quick selection modes expanded. 1. Outline only The Outline only selection tool is used to highlight the contour of the object. The selection area bleeds off the edge of the object to capture the background color. The Outline onlyselection tool is not available for an object that has been selected manually at the " Select Model" step. This prevents users from selecting the partial contour of an object, which could lead to faulty contrasts and edge detection. 2. Outline & surface The Outline & surface selection tool is used to highlight the contour and upper surface of the object. Tap the middle button. This tool is selected by default when the user accepts a model selected automatically during the Select Model step. The selection area bleeds off the edge of the object to capture the background color. The Outline & surface selection tool is not available for an object that has been selected manually at the " Select Model" step. This prevents users from selecting the partial outline and/or surface of an object, which could lead to faulty contrasts and edge detection. 3. Rectangle around object The Rectangle around object selection tool generates a rectangular selection area surrounding the object. The Rectangle around object selection tool is automatically selected when the object has been manually selected at the " Select Model" step. Tools Tap the arrow to the left of the tools button to expand the tools menu. Robotiq Wrist Camera Instruction Manual 57

1. Marker The marker tool can be used to highlight features and edges to include and keep in the selection area. Slide your finger or pointing device on the desired area(s)on the teach pendant. A green object layermaskwill be applied to the highlighted portion of the model. 2. Eraser The eraser tool can be used to ignore features and edges in the selection area. Slide your finger or pointing device on the undesired area(s)on the teach pendant. The object layer mask will be replaced by the background layer mask. 3. Rectangle+ (add area) The rectangle+ (add area)tool can be used to quickly highlight desired areas. Tap and drag your finger or pointing device to draw rectangular shapes that will highlight presently available features. Deleting the Selection Area 4. Garbage can Tap to clear the object layer mask, thus deleting the selection area. Accepting the model 5. Checkmark When the view of the model is satisfactory and you wish to carry on with the teaching wizard steps, tap the button with the check mark in the lower right corner of the teach pendant interface. Robotiq Wrist Camera Instruction Manual 58

process: " Refine Model" . Robotiq Wrist Camera Instruction Manual 59

The " Refine Model" step prompts the user to take photos of the model in four different orientations. The purpose of this step is to remove shade effects associated with the edges of the object in order to refine the model. Info The first photo is automatically generated at the end of the Edit Model step. Tap the camera icon to take a photo between each step. An error will pop up if the object has not been rotated. 1. The user is prompted to turn the object 90 degrees clockwise. Note that the first picture is already taken, in the upper right corner. 2. The user is prompted to take the second pic- ture of the object. 3. Object turned another 90 degrees clockwise. The user is promp- ted to take the third picture. 4. Object turned another 90 degrees clockwise. The user is prompted to take the fourth picture. Tip For best results, keep the object centered between rotations. Tap on any snapshot taken in the object teaching wizard to enlarge it. Validating the Model The Validate Model step starts after the fourth picture is taken at the end of the Refine Model step. Info If the object is properly detected, it will display green and red outlines. If the object has not been recognized, please refer to the GuidelinesonObject Teaching for instructions. Robotiq Wrist Camera Instruction Manual 60

model by pressing the Accept button, or go through the Refine Model step again by tapping the Retake button. Check the following: l Object contours and detected features are outlined in green l Features from the model that cannot be located on the object in the field of view of the camera are outlined in red. Scanning the Model Warning Scanning is an automatic process; the robot will move in order to perform calibration. Make sure the robot work space is clear. Tap to stop the process. The operator should watch the robot at all times and have the emergency stop button at hand. Scanbuttonused to start the scanning process Cancel buttonused to abort the scanning process while it is running Robotiq Wrist Camera Instruction Manual 61

The Vision System scans the object by taking 9 pictures. When the process is completed, the wizard will bring up the Configure Model step. Please refer to the Configuring the Model for more information. Camera LED In addition to the Auto and Off settings of the Basic mode, Expert mode provides camera LEDs’ intensity adjustment. The touch-sensitive slider can be used to select the right intensity more easily. (a) (b) (c) Fig. 7-22: Select Model step with LED option enabled; (a)Auto, (b)OFF, and (c)Manual Tip When turned ON, the LED sometimes highlight undesirable features or create reflections that can mask desired features of the image. It is recommended to try multiple settings, including the ON/OFFmode, when teaching the object in order to select the most conclusive result. Warning The flash and focus settings selected will be used at runtime unless changes are made at the Configure Model step at the end of the teaching process. Please refer to the Configuring the Model for more details. Robotiq Wrist Camera Instruction Manual 62

When the view of the model selected is satisfactory and you wish to carry on with the teaching wizard steps, tap the button with the checkmarkin the lower right corner of the teach pendant interface. Fig. 7-23: Select Model step with Accept button highlighted Robotiq Wrist Camera Instruction Manual 63

Right after accepting the model at the end of the Select Model step, the camera automatically zooms in on the object selected. Quick selection modes and tools are made available to the user. Outline onlyselection mode; please refer to the Object Teaching for more details. Outline & surface selection model please refer to theObject Teaching for more details. Rectangle selectionaround object please refer to the Object Teaching for more details. Markertool; please refer to the Object Teaching for more details. Erasertool; please refer to the Object Teaching for more details. Rectangle+ (add area)tool; please refer to the Object Teaching for more details. Accept model button; please refer to the Accepting the model for more details. Delete selectionarea button; please refer to the Accepting the model for more details. Robotiq Wrist Camera Instruction Manual 65

Teaching for more details. Robotiq Wrist Camera Instruction Manual 66

Tap the arrow to the left of the quick selection tool to expand the selection modes menu. Fig. 7-24: Edit Model step with quick selection modes expanded. 1. Outline only The Outline only selection tool is used to highlight the contour of the object. The selection area bleeds off the edge of the object to capture the background color. The Outline onlyselection tool is not available for an object that has been selected manually at the " Select Model" step. This prevents users from selecting the partial contour of an object, which could lead to faulty contrasts and edge detection. The Outline only selection tool is used to highlight the contour of the object. 2. Outline & surface The Outline & surface selection tool is used to highlight the contour and upper surface of the object. Tap the middle button. This tool is selected by default when the user accepts a model selected automatically during the Select Model step. The selection area bleeds off the edge of the object to capture the background color. The Outline & surface selection tool is not available for an object that has been selected manually at the " Select Model" step. This prevents users from selecting the partial outline and/or surface of an object, which could lead to faulty contrasts and edge detection. 3. Rectangle around object The Rectangle around object selection tool generates a rectangular selection area surrounding the object. Info The Rectangle around object selection tool is automatically selected when the object has been manually selected at the Select Model step. Tools Tap the arrow to the left of the tools button to expand the tools menu. Robotiq Wrist Camera Instruction Manual 67

1. Marker The marker tool can be used to highlight features and edges to include and keep in the selection area. Slide your finger or pointing device on the desired area(s)on the teach pendant. A green object layermaskwill be applied to the highlighted portion of the model. 2. Eraser The eraser tool can be used to ignore features and edges in the selection area. Slide your finger or pointing device on the undesired area(s)on the teach pendant. The object layer mask will be replaced by the background layer mask. 3. Rectangle+ (add area) The rectangle+ (add area)tool can be used to quickly highlight desired areas. Tap and drag your finger or pointing device to draw rectangular shapes that will highlight presently available features. Deleting the Selection Area Tap the garbage can button to clear the selection area. Accepting the Model 4. Checkmark When the view of the model is satisfactory and you wish to carry on with the teaching wizard steps, tap the button with the check mark in the lower right corner of the teach pendant interface. Caution Tapping takes a picture of the model that will act as the first step in the next phase of the teaching process: Refine Model. Robotiq Wrist Camera Instruction Manual 68

The Refine Model step prompts the user to take photos of the model in four different orientations. The purpose of this step is to remove shade effects associated with the edges of the object in order to refine the model. Info The first photo is automatically generated at the end of the Edit Model step. Info Tap the camera icon to take a photo between each step. An error will pop up if the object has not been rotated. 1. The user is prompted to turn the object 90 degrees clockwise. Note that the first picture is already taken, in the upper right corner. 2. The user is prompted to take the second picture of the object. Robotiq Wrist Camera Instruction Manual 69

prompted to take the third picture. 4. Object turned another 90 degrees clockwise. The user is prompted to take the fourth picture. Tip For best results, keep the object centered between rotations. Tap on any snapshot taken in the object teaching wizard to enlarge it. Validating the Model The Validate Model step will start right after the fourth picture is taken at the end of the Refine Model step. Info If the object is properly detected, it will display green and red outlines. If the object has not been recognized, see section GuidelinesonObject Teaching on page 35 for instructions. Accept button Retake button The Validate Model step is used to verify the contour selection of the model. To accept the model, tap . To go back to " Refine Model" , tap . Object contours and detected features are outlined in green, while features that cannot be located on the object in the field of view are outlined in red. Robotiq Wrist Camera Instruction Manual 70

Warning Scanning is an automated process; the robot will move in order to perform calibration. Make sure the robot's work space is clear. Tap to stop the process. The operator should watch the robot at all time and have the emergency stop button at hand. Scanbuttonused to start the scanning process Cancel buttonused to abort the scanning process while it is running Fig. 7-26: Scan Model step with Scan button highlighted The Vision System scans the object by taking 9 pictures. When the process is completed, the wizard will bring up the Configure Model step. Please refer to the Configuring the Model for more information. 7.2.4.ParametricMethod When teaching a simple geometry object, it is recommended to use the Parametricmethod. It builds a model based on parameters of a basic 2D shape (circle, ring, square or rectangle). This method allows the vision system to recognize and locate with high robustness objects that have few distinctive features such as raw material blanks. It usually gives best results than the Automaticmethod for simple geometry and highly reflective objects. Robotiq Wrist Camera Instruction Manual 71

l Circle l Ring l Rectangle l Square When using the Parametric method to teach an object, the Autopick functionnality can accelerate building programs that use pick instructions. Autopick is only available to the Parametric method. For details, see section Auto Pickon page 105. Info Height (h)is the distance between work plane and a 2D shape. It considers and compensates the thickness of the provided calibration board (~ 3mm)used to calibrate the work plane. Caution If you calibrated the work plane using a printed paper calibration board, add 3mm to height . Define button used to confirm the dimensions of the object. Robotiq Wrist Camera Instruction Manual 72

. Fig. 7-27: Definition of a circle 2D shape. Ring Enter the ring outer diameter (D), inner diameter (d)and the height (h)at which the ring is located. Tap the Define button. Fig. 7-28: Definition of a ring 2D shape. Robotiq Wrist Camera Instruction Manual 73

Fig. 7-29: Definition of a rectangle 2D shape. Square Enter the square length (l)and the height (h)at which the square is located. Fig. 7-30: Definition of a square 2D shape. When the process is done, the wizard will switch to the Configure Model step. Please refer to the Configuring the Model for more details. Robotiq Wrist Camera Instruction Manual 74

Test locating object button; the Vision System will search for the object in the field of view of the Wrist Camera. Back button; after testing an object's location, tap to return to the output image of the camera. Color validation button; tap to open the color validation menu. A color palette button with a red cross mark indicates that the color validation mode is not defined yet or disabled. A color palette button with a green check mark indicates that color validation was defined and is active. Please refer to the ColorValidationfor more details. Gripper Clearance Validation button; tap to open the Gripper Clearance Validation menu. A gripper button with a red cross mark indicates that the color validation mode has not been defined or has been disabled. A gripper button with a green check mark indicates that color validation was defined and is active. Please refer to the GripperClearance Validationfor more details. Multiple ObjectDetection button; tap to open the multi-object detection menu and set the maximum number of objects to detect. Detection Threshold button; tap to expand the detection threshold menu. Please refer to the Detectionthresholdsand scoresfor more details. Minus button; tap to lower the value. Robotiq Wrist Camera Instruction Manual 75

Camera settings button; please refer to the Camera settingsfor more details. Score value box; display section in which the detection score appears after testing the object location. Object location button; when an object is found, tap this button to view its position relative to the robot base. Set reference position button; tap to save the object's position for programming linear move (MoveL)relative to the object's location. Please refer to the Save locationfor more details. Save & finish button; tap to save the detection threshold, the reference position and finish the wizard. Test/ Modify button; accessible via the Command tab of the Program Robot interface in Polyscope, once the object teaching wizard is completed. Tap to access the Test and Modify wizard. It allows the user to modify the detection threshold and the saved object position. Set position button; accessible via the Command tab of the Program Robot interface in Polyscope, once the Teach object wizard is completed. Tap to re-define a new reference position for the programming linear move (MoveL)relative to the object's location. Snapshot position button; accessible via the Command tab of the Program Robot interface in Polyscope, once the Teach object wizard is completed. Press and hold the Move button to move the camera directly to the Snapshot position . When grayed out, it indicates that the camera is at the Snapshot position. Ignore snapshot position button; accessible via the Command tab of the Program Robot interface in Polyscope, once the Teach object wizard is completed. When selecting Test/Edit CamLocate node under the Command tab, if Camera is not at Snapshot Position, you either Move there ORstay and Ignore snapshot position. Robotiq Wrist Camera Instruction Manual 76

PolyScope, once the Teach object wizard is completed. Tap to reset the whole process of the object teaching wizard. Robotiq Wrist Camera Instruction Manual 77

From the " Configure Model" window, tap . Fig. 7-31: Configure Model with multi-object button highlighted. Once in the multi-object menu, tap the plus (+)symbol to increase the maximum number of objects to detect, or tap the minus (-)symbol to reduce that number. Fig. 7-32: Configure Multiple Detection menu. Color Validation Color validation adds reliability to the Cam Locate functionality. Robotiq Wrist Camera Instruction Manual 78

validation allows the system to save the color signature of objects or features. Warning Color validation is not intended for discriminating between two colors in the same Camera Locate node, no matter what the purpose is. However, this action can be performed and programmed with two or more Camera Locate nodes in the same program tree. Color validation is not intended for eliminating all colors but one in a Camera Locate node, no matter what the purpose is. Automatic method 1. Tap the color validation button to access the color validation menu. Fig. 7-33: Configure Model with color validation button highlighted. 2. Turn on color validation by tapping the red button on the right side of the screen. Robotiq Wrist Camera Instruction Manual 79

Color samplingtools Fig. 7-35: Edit Color Validation with color sampling tools expanded 1. Marker The marker tool can be used to highlight features and edges to include and keep in the color sampling area. Slide your finger or pointing device on the desired area(s)on the teach pendant. A green layer mask will be applied to the highlighted portion of the model. 2. Eraser The eraser tool can be used to ignore features and edges in the color sampling area. Slide your finger or pointing device on the undesired area(s)on the teach pendant. Robotiq Wrist Camera Instruction Manual 80

The rectangle+ (add area)tool can be used to quickly highlight desired areas for color sampling. Tap and drag your finger or pointing device to draw rectangular shapes that will highlight available features. 4. Garbage can Tapping the garbage can icon will clear the object layer mask, thus deleting the selection area. Info The validation routine of the camera is performed in two steps: 1. Contour (edge)validation, with its own detection score 2. Color validation (if applicable), with its own detection score Tip Using the color validation helps to avoid false detections in your background. (a) (b) Fig. 7-36: Examples of Edges Score for (a)a blue part (b)a red part. Parametric method 1. Tap the color validation button to access the color validation menu. Fig. 7-37: Configure Model Step (Parametric method)with color validation button highlighted. Robotiq Wrist Camera Instruction Manual 81

Fig. 7-38: Edit Color Validation menu (Parametric method)with ON/OFF toggle button highlighted. Color sampling tool In the parametric method, given the inherent symmetry of the objects located by the system, color validation is supported via an expendable/shrinkable color selection zone, on par with the contour of the object to be located. Tap the plus icon to expand the color selection zone, and tap the minus button to shrink the selection zone. Color selection zone (50% of object size) Color selection zone (80% of object size) Fig. 7-39: Color selection zone (a)50% of object size (b)80% of object size Caution The size of the color selection zone ranges from 50% of the object size to 150% of the object size. Robotiq Wrist Camera Instruction Manual 82

At the Configure model step, the user can tap the Detection threshold button in the lower right corner to expand the detection threshold settings. Fig. 7-40: Configure Model Step with detection thresholds highlighted. After adjusting the detection thresholds, if applicable, the user can test the location of the object(s) in the field of view by tapping the camera icon. Fig. 7-41: Configure Model Step with camera icon highlighted. Info In the context of multiple objects detection, each object detected has its own set of detection score values (%). Robotiq Wrist Camera Instruction Manual 83

If the object is found, you will see the object outlined, surrounded by a blue rectangle, with the detection score value (%). If no object is found, an error message will display, reading that the object was not found. Other objects detected will be surrounded by a white rectangle. Tap the other object(s)to display their own set of detection score values. Fig. 7-42: Object found with detection score. When testing the object(s)locating, object contours and detected features are outlined in green, while features that cannot be located within the field of view of the Wrist Camera are outline in red. Features from the model that cannot be located on the object in the field of view of the camera are outlined in red. Info In the context of multiple objects detection, each object detected has its own set of detection score values (%). When performing the localization test, place the whole object over the workplane. Due to the perspective effect, some or all of the object features might not be recognized. If an important feature needs to be found for your application (a hole for example), make sure it is found during all localization tests. Again, green contour should match the object outlines at all times. Tip How to prevent false positives:To avoid false detections, remove the object from the workplane, decrease the detection threshold to 0% and try to locate the object. If a false detection occurs on your workplane, you will see an object detected with the detection score. Increase the detection threshold above this score to avoid false detection. l Try all areas of the workplane on which the object might be found. Adjust the detection threshold properly for the object and for the runtime environment. l Adjust the detection threshold with the plus (+)and minus (-)buttons. Robotiq Wrist Camera Instruction Manual 84

workplane. Tap the Test locating object button to test the threshold. This ensures optimal robustness for object detection everywhere on the workplane. If it is not possible to reach such a success rate, the following should be considered: l Redefine the Cam Locate node (go through the Teach object wizard again), make sure there are no reflections, or as few as possible. l Refer to the GuidelinesonObject Teaching for instructions. Tip After completing the object teaching wizard, it is possible to edit the detection threshold. To do so, select the Camera Locate node and go to the Command tab. Click on Test/Modifyto edit the threshold and/or modify the position of the object. Color Detection Threshold and Score Color detection can only happen following a successful edge detection. Caution Color validation must be enabled in order to go through the color detection step. Please refer to the Color Validationfor more details on enabling color validation. If the object goes through the 2-step detection successfully, you will see the object(s)outlined, surrounded by a blue rectangle, with the detection score values (%). Other objects detected will be surrounded by a white rectangle. Tap the other object(s)to display their own set of detection score values. Robotiq Wrist Camera Instruction Manual 85

Robotiq Wrist Camera Instruction Manual 86

Gripper Clearance Validation The Gripper Clearance Validation feature detects parts to avoid unwanted collisions between gripper and parts. Warning Gripper Clearance Validation applies to objects of the same modelbased on identical detection criteria. Other models or objects present in the picture will be disregarded. Info To set up Gripper Clearance Validation, you can align objects horizontally. This will optimize conditions for zooming and drawing the area, which in turn will speed up the process. Set up gripper clearance validation using either the Automatic or the Parametric methods. Caution Objects and their corresponding areas should be fully displayed on screen. Otherwise, they cannot be modified. Validation methods Automaticmethod Info The Automatic method is only available when the model is defined with the automatic teaching method. 1. Tap the GripperClearance Validationbutton Fig. 7-44: Configure Model with Gripper Clearance Validation button highlighted. 2. To toggle Clearance Validation, tap the red button on the right side of the screen. Robotiq Wrist Camera Instruction Manual 87

3. Adjust the clearance area with the available tools and tap the checkmark button to confirm the model and collision areas shown on screen. Fo more details about the gripper clearance samplings tools, please refer to the following section. Gripper Clearance SamplingTools Robotiq Wrist Camera Instruction Manual 88

1. Marker The Marker tool highlights which features and edges to include in the object detection process. It can also be used to draw the clearance area for collision detection purposes. Slide your finger or pointing device on the desired area(s)on the teach pendant. Toggle between object/collision detection by selecting either the Model Area (object detection)or Gripper Area (collision detection)buttons. 2. Eraser The Eraser tool can be used to ignore features, edges and clearance area in selection area. Slide your finger or pointing device on the undesired area(s)on the teach pendant. 3. Rectangle+ (add area) The Rectangle+ (add area)tool can be used to quickly highlight desired areas. This tool is extremely useful to define a rectangle for the gripper area. Tap and drag your finger or pointing device to draw rectangular shapes that will highlight available features. 4. Model area The Model area button adds or removes features and edges from the collision detection area. The selected area is shown as green on screen. 5. Gripperarea The Gripper area button adds or removes the clearance required for a gripper to pick up an object. The collision detection area is shown as red on screen. 6. Garbage can Tapping the garbage can icon will clear the object layer masks, thus deleting the selection areas. Parametricmethod Info The Parametric method is only available when the model is defined with the parametric teaching method. 1. To access the Gripper Clearance Validation menu, tap the GripperClearance Validationbutton. Fig. 7-47: Configure Model screen. The Gripper Clearance Validation button is highlighted. Robotiq Wrist Camera Instruction Manual 89

Fig. 7-48: Edit Collision Validation screen. Toggle button is highlighted. 3. Set the required clearance around the object using the plusand minusbuttons. Fig. 7-49: Setting up the clearance perimeter. 4. Tap the checkmark button to confirm the model and collision areas shown on screen. Robotiq Wrist Camera Instruction Manual 90

Here are the steps to follow to get this information. Fig. 7-50: Path to follow to have access to the clearance verification. 1. Tap on the Installationtab at the top of the screen 2. Select URCapstab in the left pane of the screen 3. Select Camera menu 4. Once in Camera menu, tap Camera tab. Fig. 7-51: Path to follow to have access to the clearance verification. 1. Tap on the Installationtab at the top of the screen 2. Select Camera tab in the left pane of the screen 3. Select Camera menu . The gripper clearance statuses are now available as shown in the figure below. Robotiq Wrist Camera Instruction Manual 91

Camera settings Warning Camera settings can be adjusted at the Select Model step of the Automatic teaching method and/orat the Configure Model step of the Teach object wizard. Editing the camera settings at the Configure Model step will override the settings selected at the Select Model step of the Automatic teaching method. Please refer to the Object Teaching for more details. Save location Once you are done with the test and adjustment, tap the Set reference position button. Robotiq Wrist Camera Instruction Manual 92

relative to that position. Please refer to the Cam Locate Node for more details. Fig. 7-53: Position defined. Once the position is saved, tap the Save & Reset button in the lower right corner of the teach pendant interface. When you are done with the teaching process, the Cam Locate node shows a snapshot of your saved object. You can tap Reset to redefine completely. You can tap Test / Modifyto change the detection threshold or both the threshold and the saved object position. Robotiq Wrist Camera Instruction Manual 93

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. l See section LinearMove withFeature on page 96 to program a robot motion with a linear move (MoveL)with the snap- shot position variable as feature. This allows to perform robot moves relative to the object detected at runtime. l See section object_locationpose on page 97 to use an object_location pose with robot moves. For advanced users. l See section Edit DetectionThreshold and Object Locationon page 100 to edit the detection threshold and/or the 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: l Put fewer objects on the work plane. l Limit number of object types. l If your object has many detailed features, you can teach a drawing of it with simplified features or teach only one area of the object. l Use diffuse lighting, avoiding high light intensity spots on the work plane. 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 Manual 94

By enabling the fast cycle time configuration, the camera exposure will be set the first time the program enters a Cam Locate node – at runtime. For others Cam Locatenodes, the Vision System retains exposure settings used in the first run. Enabling this option halves cycle time. Fast cycle time Behaviourof the VisionSystem Whichto choose Enabled Exposure is set once for a first run, and reused in fol- lowing runs. Halves cycle time. Ambient lighting must be stable. Disabled Exposure must be set at every run. More robust part detection under variable lighting conditions. Table 8-1: Fast cycle time configuration. Fast Cycle Time Enable the fast cycle time configuration onlyif the external ambient lighting isstable. 8.1. Programming a Cam Locate Loop When you insert a Cam Locate node, it automatically insert If/Else nodes, labelled as " For object(s)found)" and " If no object found" in your robot program. Fig. 8-2: Cam Locate Loop, " Process all" mode. If you select the radio button Process one at a time from the " Cam Locate Loop" window, the node " For object(s) found" is renamed to " For next object" . Robotiq Wrist Camera Instruction Manual 95

Fig. 8-4: The Cam Locate loop can operate on two different modes. 8.1.1.Processall When this option is selected, the Wrist Camera takes one pitcture, and finds objects (their number can be changed when teaching the object). Then, the robot program will carry out instructions under " For object(s)found" for all objects that have been found, and finally, the Cam Locate Loop will be exited. 8.1.2.Processone at a time When this option is selected, the Wrist Camera takes one picture, and finds objects (their number can be changed when teaching the object). Instructions under " For next object" are carried out only once, the robot program exits the loop, and continues. When the Cam Locate node is run once again, the robot program re-enters the loop, locating an object by using the picture that was first taken. When all objects from the picture have been processed, the Cam Locate instruction takes a new picture to find new objects. 8.2. Linear Move with Feature Once the Teach Object wizard is completed, you saved the last position of your object. The object position variable, named after the snapshot position, now contains the reference frame of the object in this saved position. Each time the Camera Locate node localizes an object, it updates that feature variable's frame with the new detected object's position and orientation. That feature is named according to the feature name you chose during the snapshot position definition. Robotiq Wrist Camera Instruction Manual 96

to be used for the relative robot motion programming. Once the position is saved, do not move the object to ensure proper robot motion programming within the Camera Locate node. You can use that reference feature inside the Camera Locate node within Move commands of the robot. To do so: l Insert a Move node. l In that node, go to the Command tab. l Select MoveL. l Select the appropriate feature (your Snapshot Position / Feature name). Every waypoint inserted within that MoveL node will be relative to the feature updated by the Cam Locate Fig. 8-5: Inserting a Move node with Universal Robots, CB-Series models . Fig. 8-6: Inserting a Move node with Universal Robots, e-Series models . 8.3. object_location pose Once a snapshot position is defined, the work plane used for the calibration gets its own coordinate system, regardless of its orientation. This coordinate system is shown in the figure below. Robotiq Wrist Camera Instruction Manual 97

The Wrist Camera detects an object on the workplane and find its X-Y position, as well as its Z-orientation in the work plane coordinates system (see Fig. 8-8). Thus, a detected object is always laid flat (parallel)to the work plane. It is possible to use the object_location pose, which is a variable containing the detected object pose [positions X, Y, Z, and rotations Rx, Ry, Rz])in the robot base reference frame. This variable is updated each time the program goes within a Cam Locate node, thus every time an object is detected, regardless of how many Cam Locate nodes are in the program. The object_location pose is relative to the robot base frame. Fig. 8-8: object_location pose on the workplane used for the calibration. object_locationis a variable with the pose structure (x, y, z, x rotation, y rotation, z rotation): x: x position of the object detected, relative to the robot's base reference frame. y: y position of the object detected, relative to the robot's base reference frame. z: z position of the object detected, relative to the robot's base reference frame. xrotation: x rotation from the robot's base frame to the detected object feature reference frame. The object's X axis is parallel to the workplane on which the calibration has been performed. yrotation: y rotation from the robot's base frame to the detected object feature reference frame. The object's Y axis is parallel to the workplane on which the calibration has been performed. Robotiq Wrist Camera Instruction Manual 98

normal to the workplane on which the calibration has been performed, points downwards from it, into the workplane. Object_locationpose and TCP If you move the robot's TCP to the object_location pose, the TCP will go and point the object on the workplane. The height value of the object on the workplane should not be taken into account - the TCP might be directly on the object when moving it to the object_location pose. Program Example The program examples below show how to use the object_location pose variable.The first one simply moves the robot so that the TCP goes directly on the detected object. Make sure the TCP is set properly to avoid collisions. Fig. 8-9: Program example - place the TCP on the detected object. CB-Series robot program is illustrated. Fig. 8-10: Program example - place the TCP on the detected object. e-Series robot program is illustrated. The second example moves the robot so that the TCP goes 20 cm above the detected object. This is in the case of an horizontal plane. Robotiq Wrist Camera Instruction Manual 99

robot program is illustrated. Fig. 8-12: Program example – Place the TCP 20 cm above the detected object, in case of an horizontal plane. e-Series robot program is illustrated. Info A statement, called If no object foundis also present to determine the action to do when Cam Locate does not find any object. 8.4. Edit Detection Threshold and Object Location It is possible to edit both the detection threshold and the object location after the Teach object wizard has been completed. Tap Cam Locate > Command > Test/ Modify (see Fig. 8-13). Robotiq Wrist Camera Instruction Manual 100

l Objects can be retaught. To do so, tap . The " Configure Model" window is displayed. Robotiq Wrist Camera Instruction Manual 101