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1. Installation & Setup

Tested with Polyscope X SW 10.7.0

The steps below were verified on this software version.

The wenglor robot vision example ships as a single Polyscope X program file (.urpx) — there is no separate URCap to install. Importing the file adds the wenglor_examples, wenglor_api, and wenglor_helpers modules, the user-configuration variables, and the example main program to your installation.

Prerequisites

Requirement Value
Controller Polyscope X compatible ControlBox (version ≥ CB5.6)
Robot arm e-Series or UR Series arm
Knowledge Basic knowledge of URScript
Machine Vision Device B60 (firmware ≥ 1.4) or Machine Vision Controller (MVC) (firmware ≥ 1.1)
uniVision job A uniVision job for calibration and object detection
Network Robot and Machine Vision Device in the same network

Commissioning steps

graph LR A["Download<br/>.urpx"] --> B["Import into<br/>Polyscope X"] B --> C["Enter robot<br/>password"] C --> D["Configure<br/>User Config<br/>variables"] D --> E["Teach<br/>poses"] E --> F["Run<br/>calibration"] F --> G["Run<br/>single_detection /<br/>multi_detection"]

Get the example file

  1. Get Generic wenglor interface.urpx from the sources directory of this repository.
  2. Copy the file to a USB stick or a location reachable from the Polyscope X file browser.

Import the program

  1. On the UR Teach Pendant, open the Polyscope X Program interface and choose to import a program file.
Polyscope X program import dialog
  1. Browse to Generic wenglor interface.urpx and select it.
  2. Confirm the import. Polyscope X loads the program together with its wenglor_examples, wenglor_api, and wenglor_helpers modules.
Enter safety password
  1. Enter the password of the UR robot when prompted (by default ursafe).

Note

On the Machine Vision Device website (tab Jobs → Robot Server), make sure the robot server is active. See Settings on Device Website in the wenglor robot vision manual.

Once the program is imported, continue with User Configuration to configure the connection, jobs, and poses.