Example Universal Robots Polyscope X program for the generic vision interface

Example program version: 1.0.0

This repository demonstrates how to use the Generic Vision Interface with wenglor vision devices on a UR Polyscope X controller. The included Generic wenglor interface.urpx file acts as a working sample program that you can adopt and customize for your application.

NOTE

This repository focuses exclusively on Polyscope X-specific topics. For general robot vision information, please refer to the wenglor robot vision manual.

📖 Full documentation is available in the online manual

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Table of Contents

• Prerequisites
• Installation
• Running the Sample Program
• Configuration
  • Connection
  • uniVision jobs
  • Use case and calibration plate
  • Poses
• Troubleshooting
  • Communication errors
  • Insufficient calibration accuracy
• Support & Feedback

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Prerequisites

Tested with Polyscope X SW 10.7.0

• Polyscope X compatible ControlBox (version ≥ CB5.6).
• e-Series or UR Series robot arm.
• Basic knowledge of URScript.
• A B60 (firmware ≥ 1.4) or Machine Vision Controller (MVC) (firmware ≥ 1.1).
• A uniVision job for calibration and object detection.
• Robot and Machine Vision Device in the same network.

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Installation

1. Get Generic wenglor interface.urpx from the sources directory of this repository.
2. Copy the file to a USB stick or a location reachable from the Polyscope X file browser.
3. On the UR Teach Pendant, open the Polyscope X Program interface, import the file, and confirm. Polyscope X loads the program together with its wenglor_examples, wenglor_api, and wenglor_helpers modules.
4. Enter the password of the UR robot when prompted (by default ursafe).
5. Follow the Configuration steps below.

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Running the Sample Program

1. Navigate to the program tab and call either single_detection or multi_detection from the wenglor_examples module as the Main Program entry point.
2. Select the TCP used for calibration.
3. Execute the program and monitor the messages displayed on the teach pendant.

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Configuration

All parameters and poses are located in the Installation node tree under Before Start → User Config, in the Program tab.

Connection

• WG_CAM_IP — IP address of the Machine Vision Device (default 192.168.100.1).
• WG_CAM_PORT — TCP port of the robot vision server (default 32006).
• WIG_COMMAND_TIMEOUT — Socket read timeout in seconds (default 20).

uniVision jobs

• WG_CALIB_JOB — Job used for calibration (default calibration.u3p).
• WG_FIND_OBJECTS_JOB — Job used by single_detection and multi_detection (default find_objects.u3p).
• WG_FIND_TARGET_JOB — Job used by update_reference_frame (default find_target.u3p).

Use case and calibration plate

• WG_USE_CASE — Either camera_on_robot or camera_not_on_robot (default camera_on_robot).
• WG_CALIBRATION_TARGET — Defines the calibration plate (default zvzj001). Select zvzj001 for ZVZJ005, zvzj002 for ZVZJ006.

Poses

• g_detection_pose — Pose the robot moves to for object detection and validation. Teach this pose via Set Expression → Edit Waypoint.
• WG_CALIB_POSE_1 … WG_CALIB_POSE_5 — The five calibration poses; teach each one.

See the User Configuration page for the full variable list, including the validation offset and the update_reference_frame workflow (WG_MACHINE_POSES_TAUGHT, G_POSE_IN_MACHINE).

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Troubleshooting

Communication errors

• Verify the values of WG_CAM_IP and WG_CAM_PORT in Program → Before Start → User Config.
• Ensure the robot server on the Machine Vision Device is active: navigate to the device website → Jobs → Processing Instance → Robot Server.
• Check network connectivity and firewall rules between the robot controller and the Machine Vision Device.

Insufficient calibration accuracy

You can improve calibration accuracy by using more than five calibration poses. Add additional calibration movements — each followed by a call to wenglor_api.add_calibration_pose — in Program → wenglor_api → run_calibration, after the existing WG_CALIB_POSE_5 step and before calibration:calculate[...] is sent.

See the Troubleshooting page for more, including error codes returned by the device and reasons the program may exit unexpectedly.

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Support & Feedback

• Bugs: Please open a new Issue in the GitHub Issues section if needed.
• Feature Requests & Ideas: Discuss suggestions in the Discussions → Ideas category under GitHub Discussions.