Keep TCP orientation when using object frame in vision system

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.



Comments

  • lemster68
    lemster68 United States ✭✭✭
    Break it down to just the pos:  wCam.oframe.trans:=camtarget.oframe.trans;
    Lee Justice
  • ceppo
    ceppo Finland
    That gives error: Reference to unknown component oframe.
  • lemster68
    lemster68 United States ✭✭✭
    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?
    Lee Justice
  • ceppo
    ceppo Finland
    Yes it is cframe there is no typo.
  • ceppo
    ceppo Finland
    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.
  • slim1978
    slim1978 Danville Il
    We have the exact opposite going on ours is picking up detail the same every time out of a feeder bowl that isn't very consistant and we would like to also pick up a detail at 180 degrees for faster pick ups