RobotStudio event

Keep TCP orientation when using object frame in vision system

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ceppo
ceppo ✭
in RAPID Programming
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.



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  • lemster68
    lemster68 ✭✭✭
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    Break it down to just the pos:  wCam.oframe.trans:=camtarget.oframe.trans;
    Lee Justice
  • ceppo
    ceppo ✭
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    That gives error: Reference to unknown component oframe.
  • lemster68
    lemster68 ✭✭✭
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    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 ✭
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    Yes it is cframe there is no typo.
  • ceppo
    ceppo ✭
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    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 ✭
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    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

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