Content      ..     1      2      3      4      ..

FANUC R-30iB Plus CONTROLLER, iRVision 2D Camera Application. OPERATOR'S MANUAL - page 3

Setup

1. 2D SINGLE VIEW VISION PROCESS

4

Select a locator tool from the tree view and teach the model to use for detection.

1

By default, the GPM Locator Tool is set as the locator tool. For details of the GPM Locator Tool

and other command tools, refer to Setup Edition Section 4, "COMMAND TOOLS" in "R-30iB Plus

CONTROLLER iRVision OPERATOR’S MANUAL (Reference) B-83914EN".

1.4.3.3 Reference position setting

1

Select [2-D Single-View Vision Process] from the tree view.

1

2

4

5

2

In the text box for [Part Z Height], enter the height of the detected part of the workpiece.

When the XY plane of the offset frame is apart from the detected part of the workpiece, enter the

distance.

Enter an appropriate value as shown in the figure below.

B-83914EN-2/01

43

1. 2D SINGLE VIEW VISION PROCESS

Setup

Camera

Z

Offset frame

Workpiece

X

Part Z Height

Offset frame and Part Z Height

3

Click [SNAP] and snap the image, and click [FIND] to detect the workpiece.

CAUTION

Do not move the workpiece until the reference position setting is complete.

4

Click the [Set] button for [Ref. Pos. Status].

5 Check that [Ref. Pos. Status] has become [Set] and make sure that there are values for [Reference X],

[Reference Y] and [Reference R].

The values are the origin of the workpiece on the offset frame.

6

Click [SAVE] and click [END EDIT].

7

Move the robot to the position to work to the workpiece (e.g. place it).

For an example, refer to the sample program in Setup Edition Subsection 1.4.4, "Robot Program

Creation and Teaching". P[2] in line 11 is the position to work to the workpiece. Record the

current robot position to P[2], and the reference position teaching is complete.

44

B-83914EN-2/01

2. 2D MULTI VIEW VISION PROCESS

Setup

2

2D MULTI VIEW VISION PROCESS

The 2D Multi-view Vision Process measures the multiple points of a workpiece and offsets the robot with

the two-dimensional. This function is used for the measurement of the large workpiece which cannot be

fit in the field of view of a single camera. This chapter describes the setup procedure for 2D Multi-view

Vision Process by using the following three application examples:

• Fixed frame offset with fixed camera

• Fixed frame offset with robot-mounted camera

• Tool offset with fixed camera

The basic setting procedures are the same as the 2D Single-view Vision Process. The 2D Multi-view

Vision Process uses the ‘camera views’. Only in this regard, the 2D Multi-view Vision Process differs

from the 2D Single-view Vision Process.

Fixed frame offset with fixed camera

An example of layout for ‘fixed frame offset with fixed camera’ is shown below. A robot detects two

measurement points of a workpiece with two cameras, and performs the Fixed frame offset.

Camera

Camera view 1

Camera view 2

Pallet

Workpiece

Example of a layout for a fixed frame offset with a fixed camera

46

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

Fixed frame offset with robot-mounted camera

An example of layout for ‘fixed frame offset with robot-mounted camera’ is shown below. A robot

detects two measurement points of a workpiece with a robot mounted camera, and performs Fixed frame

offset.

2

Camera

Camera view 1

Camera view 2

Pallet

Workpiece

Example of a layout for a fixed frame offset with a robot-mounted camera

Tool offset with fixed camera

An example of layout for ‘tool offset with fixed camera’ is shown below. A robot detects two

measurement points of a workpiece with two cameras, and performs the Tool offset.

Camera

Camera view 1

Camera view 2

Workpiece

Example of a layout for a tool offset with two fixed cameras

B-83914EN-2/01

47

2. 2D MULTI VIEW VISION PROCESS

Setup

The following figure is another example. A robot detects two measurement points of a workpiece with a

single camera and performs the Tool offset.

Camera

Camera view 1

Camera view 2

Workpiece

Example of a layout for a tool offset with a fixed camera

2.1

FEATURES AND NOTES

Feature

• Measure the multiple measurement points of a large workpiece which cannot be fit in the field of

view of a single camera, and offset the robot on the two-dimensional.

• Fixed frame offset and Tool offset are supported.

• Fixed camera and robot-mounted camera can be used.

• When a robot-mounted camera is used, the position of a workpiece can be measured even when the

robot moves in the X and Y directions of the offset frame. This is because, iRVision calculates the

positions of the workpiece based on the current position of the robot.

Notes

• The offset is applied to the XY and R directions. Therefore, each measurement plane should be

parallel to the XY plane of the offset frame and should not be tilted.

• Up to the four measurement points (four camera views) can be set.

• Even when a fixed camera or a robot-mounted camera is used, the optical axis of the camera should

be vertical to the XY plane of the offset frame. When the position of the camera is tilted against

the measurement points of the workpiece, the shape of the workpiece in the image may change

depending on the location of the workpiece, so the detection may become difficult.

48

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

2.2

SETUP FOR FIXED FRAME OFFSET WITH FIXED

CAMERA

2

The setup procedures for the fixed frame offset with the fixed camera is shown below:

1.

Camera Data Creation and Teaching

2.

Offset frame setting

3.

Vision process creation and teaching

4.

Robot program creation and teaching

5.

Robot Compensation Operation Check

When create the vision system newly, perform all of the above procedures. When the position of the

installed camera is changed or the cameras are exchanged, redo the camera calibration in ‘1 Camera Data

Creation and Teaching’. When you need to add a new kind of workpiece, if a camera calibration has

been already done, the re-calibration of the camera is not needed. Perform ‘3 Vision process creation

and teaching’ and ‘4 Robot program creation and teaching’.

B-83914EN-2/01

49

2. 2D MULTI VIEW VISION PROCESS

Setup

2.2.1

Camera Data Creation and Teaching

Create a camera data and perform the basic settings and the calibration for the camera.

In the 2-D Multi-View Vision Process, the camera calibrations are required for each camera. Create the

camera data as many as the number of camera units. As an example, two camera data should be taught

in the below figure.

Camera 1

Camera view 1

Camera 2

Camera view 2

Pallet

Workpiece

Example of a layout for creating camera data for each camera

The Grid Pattern Calibration and the Robot-generated Grid Calibration can be used to calibrate a fixed

camera.

50

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

Grid Pattern Calibration

When the calibration grids are installed on the table, set the calibration grid frames of each camera and

perform the calibration as the following figure.

2

Pointer tool

Z

Y

X

Calibration grid frame 1

Z

Y

Calibration grid

X

Calibration grid frame 2

Installation example for Grid Pattern Calibration

As the following figure, a calibration can also be performed with the installed calibration grid on the

robot. In this case, the calibration can be performed with only the one calibration grid frame. When

set the calibration grid information, the grid frame setting is recommended.

Calibration grid frame

( = Tool frame)

Z

Y

X

Calibration grid

Installation example for a calibration grid attached to the robot's wrist

B-83914EN-2/01

51

2. 2D MULTI VIEW VISION PROCESS

Setup

For details of the grid frame calibration, refer to Know-how Edition Section 2.1, “GRID PATTERN

CALIBRATION WITH A FIXED CAMERA”.

Robot-Generated Grid Calibration

When the Robot-generated Grid Calibration is used, the camera calibration for each camera can be

performed with a target. For details of the Robot-generated Grid Calibration, refer to Know-how

Edition Section 2.3, “ROBOT-GENERATED GRID CALIBRATION”.

2.2.2

Offset Frame Setting

The offset frame is used for the calculation of the offset data. The position of a found workpiece is

outputted as the position on the offset frame. In the fixed frame offset, the offset frame is set as a user

frame. Set an offset frame so that the XY plane of the offset frame is parallel with the table plane where

the workpiece is placed. When the offset frame is not parallel with the plane where the workpiece is

placed, the accuracy of offset may become low.

In the 2-D Multi-View Vision Process, the camera data are created as many as the number of camera units,

but only one offset frame is required.

Measurement point＃1 camera

Measurement point＃2 camer

Workpiece

Z

Y

X

Offset frame

Pallet

Offset frame setting

‘Touch-up with the pointer tool’ and ‘Automatic Grid Frame Setting Function’ can be used to set the

offset frame.

Touch-up

When set the user frame by touch-up method, a pointer tool with TCP is needed. In general, attach the

pointer tool to the robot hand and set the TCP accurately at the tip of the pointer tool. If the accuracy of

TCP setting is low, the accuracy of the offset is also degraded. Set a TCP in an arbitrary tool frame.

52

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

When you reuse the pointer tool later, install the pointer tool in where the same location as when the TCP

setting had performed. If the reproducibility of pointer installation is not assured, a TCP setting needs

again. For details, refer to Know-how Edition Subsection 1.1.1, "User Frame Setting".

2

Grid Frame Setting Function

The Grid Frame Setting Function sets the user frame on the calibration grid frame by using a camera.

Install a calibration grid so that the XY plane of the calibration grid is parallel with the plane where the

workpiece is placed, and perform the Grid Frame Setting Function. For details, refer to Know-how

Edition Section

1.2, "FRAME SETTING WITH THE GRID FRAME SETTING FUNCTION".

When a fixed camera is used, prepare another temporary camera to perform the Grid Frame Setting

Function. The Grid Frame Setting Function can be only used with the 6-axis robot. This function

cannot be used with the 4-axis robot and the 5-axis robot. When the 4-axis robot or the 5-axis robot is

used, use the touch-up method.

2.2.3

Vision Process Creation and Teaching

Create a vision process and teach it.

The basic setting procedures are the same as the 2D Single-view Vision Process. The 2D Multi-view

Vision Process uses the ‘camera views’. Only in this regard, the 2D Multi-view Vision Process differs

from the 2D Single-view Vision Process. For each measurement point, a camera view is named [camera

view 1] or [camera view 2]. The snap tool and the locator tool such as the GPM Locator Tool are added

under each camera view.

1st view position

Camera

1st point

2nd point

Workpiece

Pallet

2nd view position

Vision process creation and teaching

B-83914EN-2/01

53

2. 2D MULTI VIEW VISION PROCESS

Setup

The setup procedures for the 2D Multi-view Vision Process is shown below:

1.

Teach locator tool for [Camera View 1].

2.

Teach locator tool for [Camera View 2].

3

Select [Camera View 1] and click [SNAP] to snap an image, and click [FIND]

to detect a workpiece.

4.

Select [Camera View 2] and click [SNAP] to snap an image, and click [FIND]

to detect a workpiece.

5.

Select [2D Multi-View Vision Process] then set a reference position.

Set the reference position immediately after detecting in each camera views. If the vision setup screen is

closed and opened, the detection of each camera views is needed again.

2.2.3.1 Vision process creation

1

Create a vision process for [2-D Multi-View Vision Process].

For details of a vision process creation, refer to Setup Edition Subsection 1.3.1.1, "Create" in

"R-30iB Plus CONTROLLER iRVision OPERATOR’S MANUAL(Reference) B-83914EN".

2

On the vision data list screen, when a created vision process is selected and clicked [Edit], the vision

data edit screen will appear.

3

4

5

3

From the [Offset Mode] drop-down box, select [Fixed Frame Offset].

4

From the [Offset Frame] drop-down box, select the user frame to set.

Select the frame number specified in Setup Edition Subsection 2.2.2, "Offset Frame Setting".

54

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

5

Enter [Combine Error Limit] in the text box as required.

2.2.3.2 Camera view teaching

2

Teach the snap tool and the locator tool such as GPM Locator Tool, for each camera view.

1

Place a workpiece in the field of view of the camera.

2

Select [Camera View 1] from the tree view.

2

4

5

3

3

From the [Camera] drop-down box, select the camera data to be used.

Select the camera data specified in Setup Edition Subsection 2.2.1, "Camera Data Creation and

Teaching".

4

Set up the snap tool.

The snap tool is a tool that snaps images that are used to teach and find models. Set the snap

conditions such as the snap window and the exposure time. For details, refer to Setup Edition

Section

4.1, "SNAP TOOL" in "R-30iB Plus CONTROLLER iRVision OPERATOR’S

MANUAL(Reference) B-83914EN".

5

Select a locator tool from the tree view and teach the model to use for detection.

By default, the GPM Locator Tool is set as the locator tool. For details of the GPM Locator Tool

and other command tools, refer to Setup Edition Section 4, "COMMAND TOOLS" in "R-30iB Plus

CONTROLLER iRVision OPERATOR’S MANUAL(Reference) B-83914EN".

6

After [Camera View 1] setup is complete, repeat the steps 2 to 5 for another camera view in the

same way.

MEMO

When you add a camera view, select the vision process from the tree view and

click the

button.

B-83914EN-2/01

55

2. 2D MULTI VIEW VISION PROCESS

Setup

2.2.3.3 Reference position setting

1

Select [Camera View 1] from the tree view.

1

2

2

In the text box for [Part Z Height], enter the height of the detected part of the workpiece.

When the XY plane of the offset frame is apart from the detected part of the workpiece, enter the

distance.

Enter an appropriate value for each camera view as shown in the figure below.

1st view position

2nd view position

Part Z Height of camera view 1

Z

X

Offset Frame

Workpiece

Part Z Height of camera view 2

Pallet

Offset Frame and Part Z Height

56

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

3

Click [Snap] and snap the image, and click [Find] and detect [Camera View 1].

CAUTION

Do not move the workpiece until the reference position setting is complete.

2

4

Perform steps 1 to 3 for all camera views.

5

Select [2-D Multi-View Vision Process] from the tree view, and click [Find] to detect the workpiece.

5

6

7

6

Click the [Set] button for [Ref. Pos. Status]

7

Check that [Ref. Pos. Status] becomes [Set] and the values for [Average Reference X] and [Average

Reference Y] is displayed.

The values are the position of the center of gravity of the workpiece on the offset frame.

When all camera views can snap the workpiece without moving the robot, the detection of all

camera views can be performed by clicking once each on [Snap] and [Find] on the editing view of

[2-D Multi-View Vision Process]. In this case, it is not necessary to perform [Snap] and [Find] for

each camera view.

8

Click [Save] and click [End Edit].

9

Move the robot to the position to work to the workpiece (e.g. gripping it).

For an example, refer to the sample program in Setup Edition Subsection 2.2.4, "Robot Program

Creation and Teaching". P[2] in line 11 is the position to work to the workpiece. Record the

current robot position to P[2], and the reference position teaching is complete.

B-83914EN-2/01

57

Setup

2. 2D MULTI VIEW VISION PROCESS

2.3

SETUP FOR FIXED FRAME OFFSET WITH

ROBOT-MOUNTED CAMERA

2

The setup procedures for the fixed frame offset with the robot-mounted camera is shown below:

1.

Camera Data Creation and Teaching

2.

Offset frame setting

3.

Vision process creation and teaching

4.

Robot program creation and teaching

5.

Robot Compensation Operation Check

When create the vision system newly, perform all of the above procedures. When the position of the

camera on the robot mechanical interface (the robot face plane) is changed or the cameras are exchanged,

redo the camera calibration in ‘1 Camera Data Creation and Teaching’. When you need to add a new

kind of workpiece, if a camera calibration has been already done, the re-calibration of the camera is not

needed. Perform ‘3 Vision process creation and teaching’ and ‘4 Robot program creation and teaching’.

2.3.1

Camera Data Creation and Teaching

Create a camera data and perform basic settings and calibration for the camera.

When the 2D Multi-view Vision Process is performed with a robot-mounted camera, measure the

multiple points on a workpiece by one camera. So, teach just one camera data. When using a

robot-mounted camera, perform the Grid Pattern Calibration. In the case of a robot-mounted camera,

the Robot-generated Grid Calibration cannot be used. For details of the grid frame calibration, refer to

Know-how Edition Section 2.2, “GRID PATTERN CALIBRATION WITH A ROBOT-MOUNTED

CAMERA”.

2.3.2

Offset Frame Setting

The offset frame is used for the calculation of the offset data. The position of a found workpiece is

outputted as the position on the offset frame. In the fixed frame offset, the offset frame is set as a user

frame.

Set an offset frame so that the XY plane of the offset frame is parallel with the table plane where the

workpiece is placed. When the offset frame is not parallel with the plane where the workpiece is placed,

the accuracy of offset may become low.

B-83914EN-2/01

59

2. 2D MULTI VIEW VISION PROCESS

Setup

Workpiece

Z

Y

X

Offset frame

Offset frame setting

There are two methods to teach the offset frame, one is touch-up with the pointer tool, and another is the

Automatic Grid Frame Setting Function.

Touch-up

When set the user frame by touch-up method, a pointer tool with TCP is needed. In general, attach the

pointer tool to the robot hand and set the TCP accurately at the tip of the pointer tool. If the accuracy of

TCP setting is low, the accuracy of the offset is also degraded. Set a TCP in an arbitrary tool frame.

When you reuse the pointer tool later, install the pointer tool in where the same location as when the TCP

setting had performed. If the reproducibility of pointer installation is not assured, a TCP setting needs

again. For details, refer to Know-how Edition Subsection 1.1.1, "User Frame Setting".

Grid Frame Setting Function

The Grid Frame Setting Function sets the user frame on the calibration grid frame by using a camera.

Install a calibration grid so that the XY plane of the calibration grid is parallel with the plane where the

workpiece is placed, and perform the Grid Frame Setting Function. For details, refer to Know-how

Edition Section 1.2, "FRAME SETTING WITH THE GRID FRAME SETTING FUNCTION". When a

robot-mounted camera is used, the camera can be used for the Grid Frame Setting Function. When there

is not sufficient space to perform the Grid Frame Setting Function with the camera, prepare another

temporary robot-mounted camera and perform the Grid Frame Setting Function. The Grid Frame

Setting Function can be only used with the 6-axis robot. This function cannot be used with the 4-axis

robot and the 5-axis robot. When the 4-axis robot or the 5-axis robot is used, use the touch-up method.

60

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

2.3.3

Vision Process Creation and Teaching

Create a vision process and teach it.

2

The basic setting procedures are the same as the 2D Single-view Vision Process. The 2D Multi-view

Vision Process uses the ‘camera views’. Only in this regard, the 2D Multi-view Vision Process differs

from the 2D Single-view Vision Process. For each measurement point, a camera view is named [camera

view 1] or [camera view 2]. The snap tool and the locator tool such as the GPM Locator Tool are added

under each camera view.

Camera view 1

1st point

2nd point

Camera view 2

1st view position

Workpiece

2nd view position

Vision process creation and teaching

B-83914EN-2/01

61

2. 2D MULTI VIEW VISION PROCESS

Setup

The setup procedures for the 2D Multi-view Vision Process is shown below:

1.

Move the robot to the first measurement position, and teach the locator tool for

[Camera View 1].

2.

Select [Camera View 1] and click [SNAP] to snap an image, and click [FIND]

to detect a workpiece.

3.

Move the robot to the second measurement position, and teach the locator tool

for [Camera View 2].

4.

Select [Camera View 2] and click [SNAP] to snap an image, and click [FIND]

to detect a workpiece.

5.

Select [2D Multi-view Vision Process] and set a reference position.

Set the reference position immediately after detecting in each camera views. If the vision setup screen is

closed and opened, the detection of each camera views is needed again.

2.3.3.1 Vision process creation

1

Create a vision process for [2-D Multi-View Vision Process].

For details of the vision process creation, refer to Setup Edition Subsection 1.3.1.1, "Create" in

"R-30iB Plus CONTROLLER iRVision OPERATOR’S MANUAL(Reference) B-83914EN".

2

On the vision data list screen, when a created vision process is selected and clicked [Edit], the vision

data edit screen will appear.

3

4

5

3

From the [Offset Mode] drop-down box, select [Fixed Frame Offset].

4

From the [Offset Frame] drop-down box, select the user frame to set.

Select the frame number specified in Setup Edition Subsection 2.3.2, "Offset Frame Setting".

62

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

5

Enter [Combine Error Limit] in the text box as required.

2.3.3.2 Camera view teaching

2

Teach the snap tool and the locator tool such as GPM Locator Tool, for each camera view.

1

Place a workpiece in the field of view of the camera.

2

Move the robot to the measurement position where the workpiece can be snapped.

Record this robot position as the first measurement position. Refer to the sample program in Setup

Edition Subsection 2.3.4, "Robot Program Creation and Teaching". P[1] in line 4 is the first

measurement position. Record the current robot position to P[1].

3

Select [Camera View 1] from the tree view.

3

5

6

4

4

From the [Camera] drop-down box, select the camera data to be used

Select the camera data specified in Setup Edition Subsection 2.3.1, "Camera Data Creation and

Teaching".

5

Set up the snap tool.

The snap tool is a tool that snaps images that are used to teach and find models. Set the snap

conditions such as the snap window and the exposure time. For details, refer to Setup Edition

Section

4.1, "SNAP TOOL" in "R-30iB Plus CONTROLLER iRVision OPERATOR’S

MANUAL(Reference) B-83914EN".

6

Select a locator tool from the tree view and teach the model to use for detection.

By default, the GPM Locator Tool is set as the locator tool. For details of the GPM Locator Tool

and other command tools, refer to Setup Edition Section 4, "COMMAND TOOLS" in "R-30iB Plus

CONTROLLER iRVision OPERATOR’S MANUAL(Reference) B-83914EN".

7

After [Camera View 1] setup is complete, repeat the steps 2 to 6 for another camera view in the

same way.

MEMO

When you add a camera view, select the vision process from the tree view and

click the

button.

B-83914EN-2/01

63

2. 2D MULTI VIEW VISION PROCESS

Setup

2.3.3.3 Reference position setting

1

Select [Camera View 1] from the tree view.

1

2

2

In the text box for [Part Z Height], enter the height of the detected part of the workpiece.

When the XY plane of the offset frame is apart from the detected part of the workpiece, enter the

distance.

Enter an appropriate value for each camera view as shown in the figure below.

Camera

1st view position

Part Z Height of camera view 1

2nd view position

Z

Part Z Height of camera view 2

X

Workpiece

Offset Frame

Pallet

Offset Frame and Part Z Height

64

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

3

Click [Snap] and snap the image, and click [Find] and detect [Camera View 1].

CAUTION

Do not move the workpiece until the reference position setting is complete.

2

4

Perform steps 1 to 3 for all camera views.

5

Select [2-D Multi-View Vision Process] from the tree view, and click [Find] to detect the workpiece.

5

6

7

6

Click the [Set] button for [Ref. Pos. Status]

7

Check that [Ref. Pos. Status] becomes [Set] and the values for [Average Reference X] and [Average

Reference Y] is displayed.

The values are the position of the center of gravity of the workpiece on the offset frame.

8

Click [Save] and click [End Edit].

9

Move the robot to the position to work to the workpiece (e.g. gripping it).

Refer to the sample program in Setup Edition Subsection 2.3.4, "Robot Program Creation and

Teaching". P[3] in line 14 is the position to work to the workpiece. Record the current robot

position to P[3], and the reference position teaching is complete.

B-83914EN-2/01

65

Setup

2. 2D MULTI VIEW VISION PROCESS

2.3.5

Robot Compensation Operation Check

Check that the multiple points of a workpiece can be detected and that the workpiece can be handled

accuracy.

2

• Place the workpiece on the reference position. Find it and check the handling accuracy. If the

accuracy of offset is low, set the reference position again.

• Move the workpiece without rotation, find it and check the handling accuracy. If the offset

accuracy is good on the reference position but it lows on the edge of the field of view, it is possible

that

[Part Z Height] is not set properly. Check the

[Part Z Height] refer to Setup Edition

Subsection 2.3.3.3 “Reference position setting”.

• Rotate the workpiece, find it and check the handling accuracy. If the accuracy of the offset is good

on the non-rotated workpiece but it lows on rotated workpiece, it is possible that the offset frame or

the calibration grid frame is not set properly. When set the frames using the touch-up method with

a pointer tool, check the TCP setting is precise. Moreover, check the offset frame and calibration

grid frame are set precisely. If there is necessary, retry the camera calibration.

• Depending on the robot motion, a camera may vibrate at snap position. Execute

“WAIT”

instruction to remove the vibration of a workpiece before the detection.

• Start with lower override of the robot to check that the logic of the program is correct. Next,

increase the override to check that the robot can operate continuously.

2.4

SETUP FOR TOOL OFFSET WITH FIXED CAMERA

An example of layout for ‘tool offset with fixed camera’ is shown below. A robot detects two

measurement points of a workpiece with two cameras, and performs tool offset.

Camera

Workpiece

Example of a layout for a tool offset with two fixed cameras

B-83914EN-2/01

67

2. 2D MULTI VIEW VISION PROCESS

Setup

The following figure is another example of a layout. A robot detects two measurement points of a

workpiece with a camera, and performs tool offset. A robot grips a workpiece and detects a point of

workpiece as the camera view 1. Next, the robot moves the workpiece and detects another point of

workpiece as the camera view 2. In the configuration such as the following layout, only one camera

data is needed. In other word, the same camera data is used in each camera view.

Camera

Camera view 1

Camera view 2

Workpiece

Example of a layout for a tool offset with a fixed camera

The setup procedures for the tool offset with the fixed camera is shown below:

1.

Camera Data Creation and Teaching

2.

Offset frame setting

3.

Vision process creation and teaching

4.

Robot program creation and teaching

5.

Robot Compensation Operation Check

When create the vision system newly, perform all of the above procedures. When the position of the

installed camera is changed or the cameras are exchanged, redo the camera calibration in ‘1 Camera Data

Creation and Teaching’. When you need to add a new kind of workpiece, if a camera calibration has

been already done, the re-calibration of the camera is not needed. Perform ‘3 Vision process creation

and teaching’ and ‘4 Robot program creation and teaching’.

68

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

2.4.1

Camera Data Creation and Teaching

Create a camera data and perform basic settings and calibration for the camera.

2

In the 2-D Multi-View Vision Process, the camera calibrations are required for each camera. Create the

camera data as many as the number of camera units. As an example, two camera data should be taught

in the below figure.

Camera

Workpiece deviation plane

Workpiece

Example of a layout for creating camera data for each camera

The Grid Pattern Calibration and the Robot-generated Grid Calibration can be used to calibrate a fixed

camera.

Grid Pattern Calibration

When the Grid Pattern Calibration is used for the calibration of tool offset, it is recommended to set the

calibration grid on a dummy workpiece. In this case, the calibration can be performed with only the one

calibration grid frame. When set the calibration grid information, the grid frame setting is recommended.

In the following figures, the calibration grid is installed on the same position as the measurement position

of workpiece. Prepare a dummy workpiece so that it can be gripped instead of an actual workpiece, and

install the calibration grid on the dummy workpiece. By using this method, setup of the offset frame can

be simplified. Install the calibration grid on the dummy workpiece so that the XY plane of the

calibration grid is parallel with the plane where the workpiece moves.

B-83914EN-2/01

69

2. 2D MULTI VIEW VISION PROCESS

Setup

Dummy workpiece

Calibration grid

Installation example for Grid Pattern Calibration

When install a calibration grid so that the XY plane of the calibration grid is parallel with the plane where

a workpiece moves, a setup of the offset frame becomes easy. For details of the grid frame calibration,

refer to Know-how Edition Section

2.1, "GRID PATTERN CALIBRATION WITH A FIXED

CAMERA".

Robot-generated Grid Calibration

When the robot-generated grid calibration is used for the calibration of tool offset, it is recommended to

attach a target mark to a dummy workpiece for calibration. Prepare a dummy workpiece so that it can

be gripped instead of an actual workpiece, and install the target mark on the dummy workpiece. By

using this method, setup of the offset frame can be simplified.

Set a target mark so that the XY plane

of the target mark is parallel with the plane on where a workpiece moves.

For details of the Robot-generated Grid Calibration, refer to Know-how Edition Section

2.3,

"ROBOT-GENERATED GRID CALIBRATION".

70

B-83914EN-2/01

Setup

2. 2D MULTI VIEW VISION PROCESS

2.4.2

Offset frame Setting

The offset frame is used for the calculation of the offset data. A found position is outputted as a position

2

on the offset frame. In the fixed frame offset, the offset frame is set as a user frame, but in the tool

offset, it is set as a tool frame. In the 2-D Multi-View Vision Process, the camera data are created as

many as the number of camera units, but only one offset frame is required.

Set a tool frame so that the XY plane of the tool frame is parallel with the workpiece deviation plane.

When the Grid Pattern Calibration is used, if the XY plane of the tool frame that is set in Know-how

Edition Subsection 2.1.4, "Calibration" is parallel with the workpiece deviation plane, the tool frame can

be used as the offset frame.

Workpiece deviation plane

Z

Y

X

Offset frame

( = tool frame)

Offset frame setting

When the Robot-generated Grid Calibration is used, if the XY plane of the tool frame (UTool for work

space) that is set in Know-how Edition Subsection 2.3.8, "Measuring target position" is parallel with the

deviation plane of the workipece, the tool frame can be used as the offset frame. In this case, it is

recommended to copy the values of the UTool for work space to another tool frame number and specify it

as the offset frame number. For example, when the UTool for work space number is 9, copy the value

of the UTool for work space to arbitrary another tool frame numbers (for example, the tool frame number

is 1), and select the tool frame number as the offset frame.

B-83914EN-2/01

71

2. 2D MULTI VIEW VISION PROCESS

Setup

2.4.3

Vision Process Creation and Teaching

Create a vision process and teach it.

The basic setting procedures are the same as the 2D Single-view Vision Process. The 2D Multi-view

Vision Process uses the ‘camera views’. Only in this regard, the 2D Multi-view Vision Process differs

from the 2D Single-view Vision Process. For each measurement point, a camera view is named [camera

view 1] or [camera view 2]. The snap tool and the locator tool such as the GPM Locator Tool are added

under each camera view.

1st point

1st measurement position

Camera view 1

2nd point

Camera view 2

Workpiece

2nd measurement position

Vision process creation and teaching

The setup procedures for the 2D Multi-view Vision Process is shown below:

1.

Teach the locator tool for [Camera View 1].

2.

Teach the locator tool for [Camera View 2].

3.

Select [Camera View 1] and click [SNAP] to snap an image, and click [FIND]

to detect a workpiece.

4.

Select [Camera View 2] and click [SNAP] to snap an image, and click [FIND]

to detect a workpiece.

5.

Select [2D Multi-View Vision Process] and set a reference position.

Set the reference position immediately after detecting in each camera views. If the vision setup screen is

closed and opened, the detection of each camera views is needed again.

72

B-83914EN-2/01

Content      ..     1      2      3      4      ..