3. Installation

The following subsections will guide you through the installation and general setup of your Robotiq Wrist Camera Vision System:

Section 3.1 details the scope of delivery for the Wrist Camera kit for UR, verify your package.
Section 3.2 lists the required tools, parts and equipment for proper use of your Camera.
Section 3.3 explains the operating conditions that must be met for the 2-Finger Gripper to operate normally.
Section 3.4 guides you through the mechanical installation using the Wrist Camera and other optional parts.
Section 3.5 describes the required electrical set up of the Gripper, its power source and cable management.
Section 3.6 guides you through the software installation.

Warning

Before installing :

Read and understand the safety instructions related to the Vision System.
Verify your package according to the scope of delivery and your order.
Have the required parts, equipment and tools listed in the requirements ready.

Warning

When installing :

Meet the environmental conditions.
Do not operate the Vision System, or even turn on the power supply, before the Camera is firmly anchored and the danger zone is cleared.

3.1. Scope of Delivery

3.1.1. Wrist Camera Kit for Universal Robots:

RWC-UR-KIT

Standard upon delivery:

Robotiq Wrist Camera with 10m High-Flex pigtail cable RWC-CAM-001;
Universal Robots pattern tool plate RWC-TOOL-062;
16 Gb USB stick ACC-USB-16G;
USB software license dongle ACC-USB-DONGLE;
4-port USB hub ACC-USB-4-HUB;
Calibration board ACC-CALIB-BOARD;
Colored background for object teaching ACC-TEACH-BACK;
Hardware kit for fixing Wrist Camera on Universal Robots.

Caution

The hardware for fixing a tool on the Wrist Camera is not provided.

Combo of 2-Finger Adaptive Gripper and Wrist Camera for Universal Robots:

CUR-AGC-085-RWC or CUR-AGC-140-RWC

Standard upon delivery:

Wrist Camera Kit for Universal Robots includes:
- Robotiq Wrist Camera with 10m High-Flex pigtail cable RWC-CAM-001;
- 16 Gb USB stick ACC-USB-16G;
- USB software license dongle ACC-USB-DONGLE;
- 4-port USB hub ACC-USB-4-HUB;
- Calibration board ACC-CALIB-BOARD;
- Colored background for object teaching ACC-TEACH-BACK;
- Hardware kit for fastening Wrist Camera to Universal Robots.
Gripper parts:
- Basic Gripper unit (85 or 140) AGC-GRP-002 or -140 (depending on your combo);
- Screw kit for fixing Gripper on Wrist Camera.

3.2. Required Tools and Equipment

The following tools are required to install the Wrist Camera:

2 mm slotted screwdriver to perform terminal block connections when wiring.

Provided tools with the Wrist Camera:

4 mm hex key to mount the Camera on the UR arm.

Optional tools if installing 2-Finger combo: CUR-AGC-085-RWC or CUR-AGC-140-RWC:

none, use the provided 4 mm hex key.

The following parts are required for setup:

Universal Robots UR3, UR5 or UR10 along with its controller;
Universal Robots' PolyScope version must be 3.5 or later in order to install the URCap.
Power supply if not using Universal Robots controller supply (see below);
Fuse, see information below.

The Camera needs to be supplied by a DC voltage source. This power supply is not included with the Camera kit for UR. Required power supply must match the Robotiq device. The following table shows the specifications with regards to the power supply required to operate the Camera and the optional Robotiq Gripper.

SPECIFICATION	VALUE
Output voltage	24 V DC ±10%
Output current	1 A
Overcurrent	Recommended power supply with internal protection, otherwise fusing is required. 2 A fuse at 25°C [77°F]¹

Table 3 - 1: Robotiq Wrist Camera and 2-Finger power supply requirements.

Info

¹Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal; use AWG #20 wiring.

Warning

If your power supply exceeds the specified regulation, over-voltage protection is required.

Robotiq recommends the use of the following power supplies:

For the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply: DPP30-24.

3.3. Environmental and Operating Conditions

The Wrist Camera is designed for industrial applications. Always respect the following specified operating environmental conditions:

CONDITION	VALUE
Minimum storage/transit temperature	-30°C [-22°F]
Maximum storage/transit temperature	70°C [158°F]
Minimum operating temperature	0°C [32°F]
Maximum operating temperature	50°C [122°F]
Humidity (non-condensing)	Non-condensing.
Others	Lenses must be free from dust, soot and water. Environment must be free from powerful electromagnetic interference. Environment must be free from corrosive or explosive liquids or gases.

Table 3 - 2: Environmental and operating conditions for the Wrist Camera.

3.4. Mechanical Installation

Wrist Camera kit for Universal Robots

For mechanical installation of a Wrist Camera on a UR robot along with an end-effector (other than Robotiq's 2-Finger Gripper), follow these instructions and refer to the figure below:

Place the Wrist Camera (RWC-CAM-001) on the robot arm. Align the camera's indexing (dowel) pin properly in Universal Robots' bolt pattern.
Place the tool plate (RWC-TOOL-062) on the camera. Align the tool plate's indexing (dowel) pin correctly in the Wrist Camera.
Fix the desired end-effector on the robot arm, through the tool plate and the camera, using M6 screws.
Fix the cable along the robot arm, please refer to the Cable Management section.

Fig. 3-1: Mechanical installation of the Wrist Camera kit for Universal Robots.

The end-effector is not screwed in the camera or the tool plate, but directly in the robot arm. Both camera and tool plate have through holes for this assembly.

Warning

Make sure the Camera is oriented properly.

Do not offset the Camera from the tool center point on the X and Y axes, or around the Z axis.

Hardware

M6 screws to mount an end-effector on the Wrist Camera are not provided. Use M6 screws of appropriate length to secure the end-effector on the robot arm.

3.4.1. Combo of 2-Finger Adaptive Gripper and Wrist Camera for Universal Robots

For mechanical installation of a Wrist Camera on a UR robot along with Robotiq's 2-Finger Gripper, follow these instructions, and refer to the figure below:

Place the Wrist Camera (RWC-CAM-001) on the robot arm. Align the camera's indexing (dowel) pin properly in Universal Robots' bolt pattern.
Fix the camera on the robot arm using the provided M6 X 12 LHCS screws and lock washers.
When mounting only the Wrist Camera on the robot, the spring pins that would ensure connection to a Robotiq 2-Finger Gripper are exposed. Be careful not to harm them.
Mount the gripper directly on the Wrist Camera using the provided M5 X 35 SHCS and lock washers.
Fix the cable along the robot arm; please refer to the Cable Management section.

Fig. 3-2: Mechanical installation of the Combo of 2-Finger Gripper and Wrist Camera for Universal Robots.

3.5. Electrical Setup

3.5.1. Pinout Interface

The Wrist Camera interfaces with an end-effector (such as a Robotiq 2-Finger Gripper) via a 10-spring pin connector located on its outer surface.

3.5.2. Power Supply

Caution

If mounting a 2-Finger Gripper on the Wrist Camera, the Camera replaces the gripper's coupling. Therefore, only the Wrist Camera's device cable is required to provide power and communication to both the camera and the gripper. The wiring for setups including only the camera or both the camera and the gripper is the same.

Power and communication are established with the Wrist Camera via the high-flex device cable. The cable provides a 24V power supply to the Wrist Camera and enables USB 2.0 communication with the Universal Robots controller.

Follow these steps to correctly wire the Wrist Camera (or the camera and 2-Finger Gripper combo) to a Universal Robots controller :

With the controller turned off, connect the red (24V) and black (0V) wires of the device cable as shown in the figure below. Use any available 24V and 0V.

Fig. 3-3: Power supply wiring on CB3.1 Universal Robots controller.

Connect the 4-port USB hub (ACC-USB-4-HUB) inside the robot controller.
Connect the Wrist Camera's USB connector in the 4-port USB hub.
Connect the license USB dongle (ACC-USB-DONGLE) in the 4-port USB hub.

Fig. 3-4: 4-port USB hub connection.

Wrist Camera grounding is optional and is done via the robot ground. The camera's indexing pin (dowel) is the ground connector.

3.5.3. Cable Management

Warning

Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper along all axes without pulling out the connectors. Always protect the controller side of the cable connection with a strain relief cable clamp.

3.6. Software

Make sure the Wrist Camera is properly mounted on the robot arm and that all electrical wiring is correctly done (refer to the Mechanical Installation section and the Electrical Setup section). Make sure your Universal Robots software is up to date. PolyScope must be version 3.3 or later in order to install a URCap.

Refer to the Wrist Camera URCap Installation section for the installation procedure.
Refer to the Update and Uninstall section to update the version or uninstall.

Do not unplug the 16 Gb USB stick or the USB license dongle, even after the installation has been completed.

Center of mass

Prior to use over Universal Robots, adjust the center of mass and payload from the Installation tab (refer to the Mechanical Specifications of Wrist Camera section).

3.6.1. Wrist Camera URCap Installation

Make sure the Wrist Camera is properly mounted to the robot arm and that all electrical wiring is correctly done (refer to the Mechanical Installation section and the Electrical Setup section). Make sure your Universal Robots software is up to date. The URCap pertaining to this product version has been tested in PolyScope 3.5.

Update

For the URCap update, refer to the Update and Uninstall section.

3.6.1.1. Wrist Camera URCap Installation

From support.robotiq.com, visit the vision system page and download the latest UCC-X.X.X compressed file.
Decompress the content of the latest UCC-X.X.X compressed file on the provided 16 Gb USB stick (ACC-USB-16G).
Make sure the .urcap file and the vision system folder are on the root of the USB drive, as shown in the figure below.

Fig. 3-5: Files at the root of the 16 Gb USB stick.

With the robot controller ON, insert the 16 Gb USB stick containing the latest URCap and vision server in the 4-port USB hub.

Fig. 3-6: Connections on the 4-port USB hub.

PolyScope 5.0+

From the teach pendant, tap the triple bar icon in the upper right corner, and then tap Settings.
Select System in the navigation pane on the left.
Tap the URCaps button.
Tap the plus (+) sign and open Robotiq_Wrist_Camera-X.X.X.urcap from the USB stick.
Tap the Restart button and wait for PolyScope to reload.
Select Installation in the ribbon at the top of the screen.
Select URCaps in the navigation pane on the left.
Tap Camera and select the Dashboard tab.
Verify the vision system's status.

Fig. 3-7: Camera dashboard ready to install the vision server.

Tap Install and wait for the vision server to be installed.
If the firmware has to be updated, tap Upgrade Camera firmware to upgrade it before continuing (refer to the figure below).

Fig. 3-8: Camera dashboard with camera firmware upgrade.

Wait for the vision system to start.
The installation is completed.
In order to use another USB drive on the controller, reboot the robot controller.

Do not unplug the 16 Gb USB stick or the USB license dongle, even after the installation has been completed.

Dashboard

The Dashboard tab contains helpful information for troubleshooting the vision system.

Test the Installation

After the installation has been completed, verify that the vision system works properly.

PolyScope 5.0+

From the teach pendant, tap Installation in the ribbon at the top of the screen.
Select URCaps in the navigation pane on the left.
Tap the Camera button.
Go to the Dashboard tab and verify the system's status; make sure the vision system is running properly.
Go to the Camera tab; the output image will display.

Center of Mass

Prior to use over Universal Robots, adjust the center of mass and payload from the Installation tab (refer to the Mechanical Specifications of Wrist Camera section).

3.6.2. Update and Uninstall

Warning

Updating the Wrist Camera software, unplugging the USB storage device and/or switching USB ports must always be done while the robot is initialized and running.

PolyScope 5.0+

On the teach pendant, tap the Installation button in the ribbon at the top of the screen.
Select URCaps in the navigation pane on the left.
Tap the Camera button and go to the Dashboard tab.
Tap the Stop camera button.
Tap the Uninstall button.
Remove the 16 Gb USB stick.
Tap the triple bar icon in the upper right corner of the screen.
Select Settings.
Tap System in the navigation pane on the left and select URCaps.
In the Active URCaps textbox, select the Camera URCap.
The Camera URCap should be highlighted.
Tap the minus button (-) to uninstall the URCap.
Restart PolyScope to complete the uninstallation process.
Turn off or reboot the controller.
Connect the 16 Gb USB stick to a PC.
Format it using FAT32.
Follow the procedure from theWrist Camera URCap Installation section to install the latest software.