Task Builder: Using Vision in Skill Commands

1

Add Skill Command after Vision Shoot and before Teaching Position Entry

• Enter the desired robot position.

• Inserting a Skill Command (Pick, Place, etc.) between Vision and End Vision in the Task List will create a toggle button for the skill command to use Vision Position Offset. (The button is not displayed if there is no Skill Command between VisionStart and VisionEnd.)

Caution: To use Vision Position Offset, it is necessary to perform calibration in the Workcell Manager. Without calibration, the robot cannot be moved to a desired position.

2

Picking Pose

Acquires the pose after moving the pose to pick based on the Vision Pose using direct teaching.

3

Vision Position Offset

• Match the Vision measurement pose and robot pose.

• The Vision measurement pose can be moved based on the robot.

4

Vision Variable

Select a pose to match the Vision and robot coordinates.