Task Writer: Using Vision in Motion Commands

1

Add Motion Command after Vision Shoot and before Teaching Position Entry

Enter the desired robot position with Move L.

2

Get pose

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

3

Add Motion Command for Vision Offset Pose

If you insert a Motion Command (Move L, Move B, etc.) between Vision and End Vision in the Task List, a toggle button for Vision Position Offset will appear, as shown in ③ in the last line of Move L. (The button is not displayed if there is no Motion Command between Vision and End Vision.)

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.

4

Vision Position Offset

• Match the Vision measurement pose and robot pose.

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

5

Vision Variable

Select a pose to match the Vision and robot coordinates.