D: Pick and place with vision
Beforehand, following preparations need to be done.
- Make sure that the connection settings of the robot controller are properly configured.
- By default, Epson RC+ 8.0 will connect to the Controller with USB. Make sure that the PC on which RC+ is started and the robot controller are properly connected with a USB cable.
- If you need a setting for Ethernet connection, you can set the connection from [Setup]-[PC to Controller Communications] Ethernet.
- Mount a hand for gripping a part. Determine the robot controller output(s) required to open and close the hand. Also determine whether to use vision for positioning part to pick.
- If you need vision to locate the part for pickup, and if it is necessary, mount a camera on the robot.
- For SCARA robots, mount the camera on joint 2 or joint 4.
- For 6 axis robots, mount the camera on joint 5 or joint 6.
- You may also need to mount a light for the camera. Determine a robot controller output required to operate the light.
- Determine if you need vision to locate the part on the gripper to calculate place position.
- This is accomplished with an upward looking camera. After the part has been picked up, the robot moves so that the grasped part is over the upward looking camera. The vision system then determines the place position of the part.
- You may also need to mount a light for the camera. Determine a robot controller output required to operate the light.
When the following window is displayed, select [Pick and place with vision], and then click [Next].
Select a Controller to connect. If it doesn't have connecting Controller in the list, click [New Connection] then Controller connecting wizard will start. See details below.
Select a robot to use.
Set main I/O to use. Make sure to select output bit "GripOn". For more details of each Input/Output bit, see below.
Select a robot tool. By setting the tool according to the hand you're using, jog operation will be more intuitive. See details below.
From here, move the actual robot to teach the position. See details below.
Jog the robot and teach the Park robot position. Park robot position is a point where a robot stops moving and waits for signals to start.
Select a position of mounting a camera.
You can configure a mobile camera and/or an upward camera. Check [Use robot camera to locate the part to be picked] if you need to locate the part before picking it. Optionally, you can check [Rotate gripper using vision part angle]. This will cause the robot to rotate the gripper to match the angle of the part. Select the [Use fixed upward camera to locate the part on the gripper] checkbox if you need the robot to adjust for pickup variations when placing the part.
When mobile camera is selected in step 10, the wizard moves to the wizard of selecting mobile camera. If you are not using a mobile camera to find the part to pick up, go to step 14.
Jog the robot and teach the Pick robot position.
Jog the robot until the camera is positioned so that the part is near the center of the field of view.
Teach the vision system for part detection. Use the mouse to position the model window so that is surrounds the part. Position the cross hair to the pick position on the part. See details below.
Teaching part detection for vision
Calibrate the mobile camera by clicking the [Calibrate] button.
Calibration is automatic and will use the part as the calibration target. Click the [Abort] button if you want to stop the calibration. When the calibration is completed, a message is displayed stating whether the calibration was successful or not.
Jog the robot and teach the Pick robot position. Pick robot position is a point to hold (pick) a target workpiece.
Jog the robot and teach the PickAppro (pick approach) robot position. It is recommended to specify the point for PickAppro robot position that is slightly moved in the +Z direction from the pick position to prevent collision with a jig near the pick position.
When upward camera is selected in the step of selecting a position of mounting a camera, the wizard moves to the wizard of selecting upward camera.
Jog the robot until the camera is positioned so that the part is near the center of the field of view.
Register the vision model of the part.
Calibrate the upward camera.
Jog the robot and teach the Place robot position. Place robot position is a point to release (place) the target workpiece.
Jog the robot and teach the PlaceAppro (place approach) robot position. Same as the PlaceAppro robot position, it is recommended to specify the point that is slightly moved in the +Z direction from the place position.
This is the end of the steps for the project wizard.
