schmalz 3D-R Schnellstartanleitung Seite 22

3. With Detect Grasp Points, you can also determine whether the settings lead to a grasp point. If there is no re-
sult here, we recommend checking and adjusting the parameters.
6.5 Setting up URCaps
ü Polyscope must have the following software status: CB-Series: 3.12 or higher, e-Series: 5.6 or higher.
If necessary, update the robot software at: https://www.universal-robots.com/download/.
1. Install the URCaps by inserting the USB stick included in the Rob-Set into the robot's control panel. Load the
URCaps under: Settings -> UR Caps -> + -> Select the cap -> Reboot Robot
2. Connect the camera to the robot controller using an Ethernet cable (note: the robot and camera must be on
the same network).
Change the IP address of the camera or the robot IP address in the UR operating menu under Menu -> Set-
tings -> System -> Network.
ð In the case of a successful connection, a live image appears under: Installation -> Schmalz 3D-R -> rc_visard
6.6 Calibrating the Camera
To synchronize the robot with the camera's field of view, the system must be calibrated.
The ambient lighting has a significant impact on the results of the calibration. Optimize the ambient lighting if
necessary.
Optimum illumination of the area is re-
quired to ensure successful calibration of
the camera.
The lighting must be optimized such that
the green ticks appear on the black sec-
tions of the calibration plate in the CAP.
Proceed as described below, depending on whether the camera is mounted statically or on the robot:
Version: camera mounted statically
1. Screw the calibration plate onto the robot flange. Use the designated holes in the calibration plate for this
purpose.
2. Align the calibration plate.
3. Start the calibration in the UR menu by selecting Programs -> rc hand eye calibration and pressing "Play".
The Cap guides you through the calibration routine in 4 steps. Follow the instructions in the Cap.
CAUTION! Risk of collision and crushing due to sudden movements of the robot arm. Ensure that the emer-
gency stop is always within reach.
Watch the green markings that appear on the calibration plate in the live image. Optimum results are
achieved when all markings are green.
4. Save the result with: "save calibration"
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