Keep TCP orientation when using object frame in vision system
ceppo
Finland ✭
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
-
Break it down to just the pos: wCam.oframe.trans:=camtarget.oframe.trans;Lee Justice
-
That gives error: Reference to unknown component oframe.
-
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 -
Yes it is cframe there is no typo.
-
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.
Categories
- 9.8K All Categories
- 5K RobotStudio
- 320 UpFeed
- 7 Tutorials
- 272 PowerPacs
- 401 RobotStudio S4
- 3 RobotStudio AR Viewer
- 600 RAPID Programming
- 12 Wizard Easy Programming
- 2.5K Robot Controller
- 165 IRC5
- 25 OmniCore
- 5 RCS (Realistic Controller Simulation)
- 1.7K Developer Tools
- 224 ScreenMaker
- 88 Collaborative Robots