Simple Parts
The following is an example of a vision sequence created to detect parts that simply need to be gripped without needing to take into account orientation (how the part is facing) and the degree of rotation.
- Vision sequence
Configure the following properties. Make sure to configure or check the following. Configure other properties as required.
| Property | Configuration method |
|---|---|
| Calibration | Configure vision calibration for the camera used for capturing images of the feeder. Specify the same calibration as that specified for the calibration vision sequence. Vision calibration must be completed. |
| Camera | Set the camera number for the camera used for capturing images of the feeder. Specify the same camera as that specified in the calibration vision sequence. |
| ExposureTime | Adjust this while the feeder backlight is on so that parts can be captured clearly. Additionally, ensure that the area surrounding the feeder does not appear darkened out. |
- Vision objects
Register one of the following objects for which robot coordinates can be retrieved.- ArcFinder
- ArcInspector
- Blob
- BoxFinder
- ColorMatch
- CornerFinder
- Correlation
- DefectFinder
- Edge
- Geometric
- LineInspector
- Point
- Polar
Configure the following properties for the object. Make sure to configure or check the following. Configure other properties as required based on the object type.
| Property | Configuration method |
|---|---|
| NumberToFind | Set to All. |
| SearchWindow | Match to the inner circumference of the platform. Additionally, ensure that darkened areas surrounding the platform do not enter the search window.
|
KEY POINTS
This can be used with other objects.
Example: Using an ImageOp object for binarization processing/
KEY POINTS
When a new sequence is created and one or more part feeders with backlights exist, then a dialog is displayed asking the user to select a feeder with a backlight if desired.
When running a vision sequence or object from the EPSON RC+ Vision Guide window, this selection will allow the backlight to be turned on automatically.
If the feeder with a backlight is an IF-80, then the backlight will turn off after the image is grabbed and the video will be temporarily frozen. Freezing the image allows the user to see the image even though the backlight has been turned off. The user can click on the video area to switch back to live video.
This is mainly for the case where a new project has been created but no part feeding parts have been added.
