11 the actual product, and make registration securely. Change the workpiece position and angle of picking/placing and check the operation thoroughly. The system must be operated so that it can be stopped at any time by an emergency stop button. Registering the grasp point that interferes with the workpiece may damage the hand or the workpiece. Register the gripping position that does not interfere with the work. If the robot is operated with an incorrectly selected picking and holding DB or hand data, the robot may pick and hold the workpiece in an unintended position and/or posture, damaging the workpiece, container, or hand and causing it to fly out into the environment.
Select the proper picking and holding DB in the picking and holding plan setting. Make sure to perform offline measurement before operating the robot to confirm that the proper hand is selected. If the robot is operated with incorrect sensor controller project data, it may act in an unintended manner, resulting in contact with humans, scattering of workpieces, and contact with surrounding objects. Make sure that the proper environment file for the robot is loaded. If the robot is operated after changing the floor or container height, it may collide with the floor. If the container position or floor level is changed, register the floor level and container again.
If the 3D Vision Sensor shape is not registered, the 3D Vision Sensor may collide with the container and be damaged. Please register the 3D Vision Sensor shape when you register the hand data. Do not perform camera calibration during the warm-up operation of the 3D Vision Sensor. Measurement errors occur when the geometric positional relationship between the lighting section and imaging section of the 3D Vision Sensor changes due to factors such as aging, temperature changes, or impact on the 3D Vision Sensor. Perform a camera calibration check on a regular basis and calibrate the camera if necessary. Do not perform hand-eye calibration during the warm-up operation of the 3D Vision Sensor.
Complete sensor calibration before performing hand-eye calibration. Caution Please take fail-safe measures on your side in preparation for an abnormal signal due to signal conductor disconnection and/or momentary power interruption. An abnormal operation may result in a serious accident. If the camera calibration is performed with the target tilted, the measurement error may deteriorate. Ensure that the calibration target is placed in a stable position on a flat floor.