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How to Unstack Parts from Multiple Locations Using the Robotiq Wrist Camera

Configure the Wrist Camera to pick parts from various zones with unique environments

Here is a program template to make it : 

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  • Teach the object in the Cam Locate node

  • In Cam Locate settings, enable “Ignore snapshot position”

    • This allows reuse of the same object definition across multiple locations

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  • Cycle Through Positions in the Program

    • Use a loop to:

      • Start at Position 1

      • Try to locate a part using the corresponding Environment

      • If no part is found, move to Position 2, and so on…

  • Handle Layer Change and Interlayer Removal

    • After reaching Position 4 (or last), if no parts are detected:

      • Change the layer by adjusting the snapshot Z offset

      • Reset current position to 1

      • A popup appears asking the operator to remove the interlayer

      • The robot then resumes at Position 1 on the new layer

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The camera can tolerate approximately +-10% scaling when detecting an object. Therefore if the thickness of your object is relatively small, it is possible that the camera detects the part of the layer underneath if there is no part on the layer it is looking for and no interlayer to hide these parts. That's why I added interlayers.  It might not be necessary if the thickness of your part is sufficient to avoid being within the +-10% scaling.