Step 6: Check operation
[Purpose]
By actually executing the robot program with vision offset, verify if the robot can perform the task at a correct position.
Because it is dangerous to run the robot in a fast speed, use a 10% override for this verification.

[Procedure]
Place a workpiece in the camera FOV.
TP
Execute the robot program from the beginning.
Verify that the robot tool can touch the workpiece correctly.

To verify that the offset is correct, it is efficient to try five patterns below in order.
  1. Place the workpiece on the reference position.
  2. Place the workpiece on a position shifted from the reference position parallel to the X-direction.
  3. Place the workpiece on a position shifted from the reference position parallel to the Y-direction.
  4. Place the workpiece on the reference position and rotate the workpiece.
  5. Place the workpiece on a position other than the reference position, and rotate the workpiece.