2D Camera Integration

Different cameras can be integrated in the CPRog software. This allows to pick parts with a not precisely defined position.

Currently plugins are available for:

• IFM O2D, a compact camera with integrated image processing
• Matrox camera systems

Both systems aquire an image and process it internally. Then they send the target position via Ethernet to the CPRog software. Here they are received by an plugin and stored in a variable. This variable can be used in a motion.

A more in-depth explanation and an example program can be found in the documentation (german): Dokumentation_PlugIn_IFM-O2D_V03.pdf (DE) The english version of that same documentation is being worked on below

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UNDER CONSTRUCTION. Currently the english translation of the documentation is being generated

Scope

This document explains the use of an IFM 3D camera in CPRog.

Safety

• Caution! Personal safety has to be ensured during operation.
• This is especially relevant during configuration and set up of the camera application. All motion has to be carried out at slow speeds.
• The operator has to be ready to stop the robot
• It is recommanded that all programs are tested in the simulation prior to moving the robot.

Mechanical and electrical setup

The camera has to be mounted at ample height above the work-pieces. Care has to be taken to avoid any collisions. Opening andle and minimum Die Kamera muss in entsprechender Höhe über den Werkstücken montiert werden. Es muss darauf geachtet werden, dass keine Kollisionen stattfinden. Öffnungswinkel und Minimalabstand entnehmen Sie bitte der IFM-Dokumentation. Die Kamera sollte, sofern möglich, parallel zu den Koordinatenachsen des Roboters montiert werden, siehe Bild Abschnitt 5. Dies vereinfacht die spätere Kalibrierung.