Difference between revisions of "Locator Tutorial: Setting up Locator to work with UR robots"

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Amend the IP address and Subnet Mask to match the network configuration of the Locator Vision Controller and click '''Apply''':
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Amend the '''IP Address''' and '''Subnet Mask''' to match the network configuration of the Vision Controller running Locator and click '''Apply''':
  
  
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Locator URCap should appear in the list of active URCaps. As usual, the restart is needed in order to enable functionality of newly installed URCap  
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Locator URCap should appear in the list of active URCaps. As usual, the restart is needed in order to enable proper functionality of newly installed URCap.
  
  
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As the last step copy all three program templates from USB Stick to the Robot Controller as shown below:
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As the next step copy all three program templates from USB Stick to the Robot Controller as shown below:
  
  
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== 4. Calibration ==
 
== 4. Calibration ==
  
Robot Camera Calibration is a crucial step in Locator configuration. Accurate calibration guarantees that object positions will be calculated directly in Robot Base coordinates.
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Robot Camera Calibration is a crucial step in Locator configuration. Accurate calibration guarantees that object positions will be calculated directly in Robot Base coordinates.
 +
 
 +
Photoneo Robot Camera Calibration for URCap is configured to search for the sphere object, which radius is known. Usually, Ping-Pong or Snooker ball is used for this purpose and it should be part of the Locator package. It can be attached to the gripper using peg, suction cup two-finger gripper or another method. The pose of the ping pong ball is not important (doesn't need to be in axis) the only condition is that is should be mounted firmly so it does not move during transitions between waypoints and it is visible from the scanner.
 +
 
 +
 
 +
 
 +
URCap provides a direct interface to Photoneo Robot Camera Calibration Utility, so it is not necessary to input flange pose manually for each waypoint. Instead, these values are automatically transferred from robot to the Robot Camera Calibration Tool, so it is possible to perform complete calibration directly from the Teach Pendant.  
  
 
=== 4.1 Robot - Camera Calibration ===
 
=== 4.1 Robot - Camera Calibration ===
  
Mount the Scanner firmly, ensure that the scene is properly captured from the final position and open the LocatorCalibration program:  
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Mount the Scanner firmly, ensure that the scene is properly captured from the final position and open the '''LocatorCalibration.urp''' program:  
  
  
 
[[File: Locator Setting Up Guide Calibration 0.png]]
 
[[File: Locator Setting Up Guide Calibration 0.png]]
  
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 +
The default calibration template includes calibration example with 4 waypoints.  At least 4 calibration waypoints are necessary for successful calibration, however, it is recommended to teach 6 - 8 waypoints and cover the whole operation space (Teach 4 corners + 4 Poses in the middle of the volume). When teaching calibration waypoints, ensure that the robot does not collide during transitions.
  
 
Locator Calibration interface consists of three URScript functions:
 
Locator Calibration interface consists of three URScript functions:
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* - '''calibration_start(scanner_id, ball_radius)''' - this procedure needs to be called at the beginning of the calibration program
 
* - '''calibration_start(scanner_id, ball_radius)''' - this procedure needs to be called at the beginning of the calibration program
  
* - '''calibration_add_point()''' -  
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* - '''calibration_add_point()''' - this procedure must be called after reaching calibration waypoint
  
* - '''calibration_finish()'''
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* - '''calibration_finish()''' - this procedure must be called after finalizing last calibration add_point
  
  

Revision as of 11:09, 17 January 2019

Users are strongly recommended to read Locator Tutorial: Introduction prior to installation of specific robot interface

1. Prerequisites

Prior to setup, please ensure that your UR controller meets the following criteria:

- CB3.1 or E-series Controller

- System version 3.2 and higher

Click Menu -> About to verify your controller System Version (see figure below):


Locator Setting Up Guide About 2.png

2. UR Controller Setup

2.1 Set IP Address of Ethernet Port

The first step of the process is to configure the IP address of the Robot Controller.

Using the Teach Pendant, press Menu -> System -> Network:


Locator Setting Up Guide IP Config 2.png


Amend the IP Address and Subnet Mask to match the network configuration of the Vision Controller running Locator and click Apply:


Locator Setting Up Guide IP Config 4.png


3. Locator UR Cap Setup

The Locator UR Interface is available as an URCap and three basic program templates. All of these files need to be copied to the Robot Controller.

As the first step, URCap needs to be installed. Extract the Locator URCap archive (.zip file) to the USB stick and plug it into the Teach Pendant.

Press Menu -> System -> URCaps:


Locator Setting Up Guide IP URCap Install 5.png


Select the Locator URCap file and click Open:


Locator Setting Up Guide IP URCap Install 3.png


Locator URCap should appear in the list of active URCaps. As usual, the restart is needed in order to enable proper functionality of newly installed URCap.


Locator Setting Up Guide IP URCap Install 4.png


As the next step copy all three program templates from USB Stick to the Robot Controller as shown below:


Locator Setting Up Guide Programs.png

4. Calibration

Robot Camera Calibration is a crucial step in Locator configuration. Accurate calibration guarantees that object positions will be calculated directly in Robot Base coordinates.

Photoneo Robot Camera Calibration for URCap is configured to search for the sphere object, which radius is known. Usually, Ping-Pong or Snooker ball is used for this purpose and it should be part of the Locator package. It can be attached to the gripper using peg, suction cup two-finger gripper or another method. The pose of the ping pong ball is not important (doesn't need to be in axis) the only condition is that is should be mounted firmly so it does not move during transitions between waypoints and it is visible from the scanner.


URCap provides a direct interface to Photoneo Robot Camera Calibration Utility, so it is not necessary to input flange pose manually for each waypoint. Instead, these values are automatically transferred from robot to the Robot Camera Calibration Tool, so it is possible to perform complete calibration directly from the Teach Pendant.

4.1 Robot - Camera Calibration

Mount the Scanner firmly, ensure that the scene is properly captured from the final position and open the LocatorCalibration.urp program:


Locator Setting Up Guide Calibration 0.png


The default calibration template includes calibration example with 4 waypoints. At least 4 calibration waypoints are necessary for successful calibration, however, it is recommended to teach 6 - 8 waypoints and cover the whole operation space (Teach 4 corners + 4 Poses in the middle of the volume). When teaching calibration waypoints, ensure that the robot does not collide during transitions.

Locator Calibration interface consists of three URScript functions:

  • - calibration_start(scanner_id, ball_radius) - this procedure needs to be called at the beginning of the calibration program
  • - calibration_add_point() - this procedure must be called after reaching calibration waypoint
  • - calibration_finish() - this procedure must be called after finalizing last calibration add_point


Locator Setting Up Guide Calibration 1.png


Locator Setting Up Guide Calibration 2.png


Locator Setting Up Guide Calibration 3.png


Locator Setting Up Guide Calibration 4.png


4.2 Tool Calibration

The misplacement vector calculated during the robot camera calibration process determines the center of the calibration ball with respect to the Tool Frame selected during calibration. This is a convenient method for validating the calibration, but in practice the real gripping point is usually different from the center point of the calibration ball. In order to ensure successful picking, the robot tool should also be calibrated. The most commonly used method of achieving this, is to use the built-in FANUC calibration tools. The following section demonstrates tool calibration using the Three Point method.

Select Menu -> Setup -> Frames and select the tool frame you want to use within your program.


Locator Setting Up Guide TCP Config.png


Locator Setting Up Guide TCP Config 2.png


5. Runtime

5.1 Reteach Application poses

Once the Robot-Camera and Tool calibration processes have been completed, you can proceed to re-teaching the application poses. Prior to starting this process, please ensure that you have selected the correct User and Tool Frame.

Go through the LOC_SINGLE or LOC_MULTIPLE programs and reteach all J P[X] poses using the standard procedure as shown in the figure below:


Locator Setting Up Guide Teach Home Pose.png

5.2 Run Locator

You are now ready to run the program. Switch to T1 mode and select 10% speed; this option is recommended for safety reasons.

Ensure that you are ready to stop the motion execution immediately if something goes wrong.

Select the LOC_SINGLE/LOC_MULTIPLE program or another program which you have prepared your own.


[[File: ]]

If everything is working correctly, you should that the scan has been triggered, the result from Locator has been transmitted to the Robot Controller and the robot is approaching the object.


Locator Setting Up Guide SingleResultMode.png