Used within the updateReferenceFrame use case to stop the program, so the related poses for the reference frame can be taught after the initial reference frame was set. After teaching the poses, set this value to TRUE.
Defines the detection pose for the object recognition. For camera on robot, the detection pose must be identical to the first calibration pose (handled automatically by the robot example program). For camera not on robot, the detection pose must be set separately so that the robot arm does not interfere with the camera image. This pose is used for the second calibration step and for the detection step.
wPoseInMachine
Dummy pose that is used to show the use case for updateReferenceFrame and how to use your poses there. This pose is set relative to wReferenceFrame.
The reference frame updated by the updateReferenceFrame routine. Teach all poses in the machine relative to this frame so they update together with it. For details, see the Wenglor Robot Server overview in the wenglor robot vision manual.
!*********************************************** USER CONFIG ****************************************************!
! Replace IP address and port with your setup.
CONST string W_VISION_DEVICE_IP:="192.168.100.1";
CONST num W_VISION_DEVICE_PORT:=32006;
! Comment out the correct line depending on the selected camera/robot setup
CONST string W_USE_CASE:="camera_on_robot";
!CONST string W_USE_CASE := "camera_not_on_robot";
! Replace with the calibration target you are using
! if you are using zvzj005, replace with zvzj001 and
! if you are using zvzj006, replace with zvzj002
CONST string W_CALIBRATION_TARGET:="zvzj001";
! Replace the calibration job with the one you created in uniVision
CONST string W_CALIBRATION_JOB:="calibration.u3p";
CONST string W_DETECT_OBJECTS_JOB:="find_objects.u3p";
CONST string W_DETECT_TARGET_JOB:="find_target.u3p";
CONST string W_USER_COMMAND:="singleDetection";
!CONST string W_USER_COMMAND:="multiDetection";
!CONST string W_USER_COMMAND:="updateReferenceFrame";
! Adjust validation z safety offset [mm]
CONST num W_SAFETY_OFFSET_MM:=10;
! Set speed for calibration movements here
CONST speeddata W_CALIB_SPEED:=v100;
Note
Also check that ABB is selected in the robot manufacturer drop-down of the robot server on the Machine Vision Device website (e.g. B60, MVC). See Settings on Device Website in the wenglor robot vision manual.
Once the configuration matches your setup, load the program "Generic wenglor vision interface" — see Installation & Setup.
