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1. Installation of URCap

The wenglor robot vision URCap adds installation and program nodes to Polyscope 5 that connect the robot to a wenglor Machine Vision Device, calibrate the camera to the robot, and detect objects.

Prerequisites

Requirement Value
Robot series UR E-series (CB-series is not supported)
Polyscope version 5.22 or newer
RTDE Real Time Data Exchange must be enabled in the UR security settings
Network Robot and Machine Vision Device in the same network

TODO: UR Teach Panel menu

Download the URCap

Get the latest URCap version from this repository's own sources directory, and copy the URCap file onto a freshly formatted USB stick.

Install on the UR Teach Panel

  1. Plug the USB stick into the UR Teach Panel.
  2. Start the robot and open the menu in the top right corner of the UR Teach Panel.
UR Teach Panel menu
  1. Navigate to the System menu and select URCaps.
  2. Click the + symbol.
System URCaps add
  1. Navigate through the file system until you find the URCap file "wenglor robot vision". Select it.
  2. Proceed by restarting the robot.

After the reboot, the URCap is displayed with a green hook, indicating a successful installation.

TODO: URCap installed green hook

Note

On the Machine Vision Device website (tab Jobs → Robot Server), make sure the robot server is active and the robot manufacturer is set to UR Polyscope 5 URCap. See Settings on Device Website in the wenglor robot vision manual.

Once the URCap is installed, continue with User Configuration to configure the connection and run the calibration.