Keep TCP orientation when using object frame in vision system

ceppo

Hello,

I'm using integrated vision to locate and pick up parts. Location of part is given to robot by moving the object frame like this:  wCam.oframe:=camTarget.cframe; and then robot is moved to that position with Offs command: MoveL pPickObject,vFast,fine,tGripper\WObj:=wCam;

The problem is that as the parts I'm picking are round there is no need to rotate the tool when picking them up so how can I make it so that the tool won't rotate? I want to keep it in specific angle to minimize change of collision.

lemster68

Break it down to just the pos:  wCam.oframe.trans:=camtarget.oframe.trans;

ceppo

That gives error: Reference to unknown component oframe.

lemster68

In your post was this:
wCam.oframe:=camTarget.cframe;

I assumed that camtarget.cframe; was a typo for .oframe, was I wrong?  or is your data .cframe?

ceppo

Yes it is cframe there is no typo.

ceppo

I found the solution to this myself and it was quite a simple one. There was a possibility to send an constant angle to robot from integrated vision so that solved the problem.