Step 1: Create robot program
[Purpose]
First, create a program for the robot to perform a task on the workpiece located on a specified position. Make sure to specify the User Frame (UFRAME) that will be used. For this tutorial, a Tool Frame (UTOOL) does not need to be specified, but one will almost certainly be needed for a production application.
At this point, this is a regular robot program that does not use iRVision.

[Procedure]
TP
As shown in the sample on the right, create a program for the tool to vacuum grip a workpiece located on a specified position.

To allow the workpiece to be located on the same position in the subsequent steps, mark the position where the workpiece was placed when the robot program was taught.
Although this is not done in the actual system, this is done to facilitate the practice in this tutorial.

Note
TP
Teach the position data correctly in the program.
P[1]: The stand-by position of the robot. Teach a position so that the robot is not inside the camera FOV.
P[2]: The approach position relative to the position where the workpiece is vacuumed and gripped. The height should be higher than the workpiece by approximately 10 cm.
P[3]: The position where the workpiece is picked. Teach a position so that the center of the workpiece can be touched.

Additional
Normally, the line including 'PAUSE' in the sample program should have a command, such as Vacuum ON, to vacuum the workpiece. However, the workpiece is not picked but just touched in this tutorial.
The content of the task can be modified. For example, a task to trace the workpiece circumference (four sides) will help understand how the robot is offset.

Additional
Comments are a good programming practice as they can provide context to instructions. In Teach Pendant programming, you can add comments to labels and positions. Use the arrow keys on the Teach Pendant to move the cursor over the position's or label's number and press the ENTER button. A comment can now be entered. Press the ENTER button when the comment is complete.