Program the Universal Robot

After you set up the robot calibration and In-Sight jobs, you can then program the robot for your pick and place application using MoveL and other robot commands. You can also determine the action to take when a job passes, fails, or if there is no response from the vision system. The Cognex In-Sight 2D Robot Guidance plugin provides the following framework to start:

When you finish programming and run the application, when the program reaches the CGX_result:=CameraPose node, the following occurs:

1. The robot communicates to the camera for location of the trained part.
2. The vision system triggers and returns the pose that represents the location of the part.
3. The pose is stored in the CGX_result variable in the Program Structure Editor in PolyScope.

The following is a sample program structure: