Vision calibration sequence
Before you can calibrate a vision conveyor, you must first create a calibration sequence. This sequence is used by the system during the calibration process and must be linked to a camera calibration. The conveyor system commands use camera coordinates in millimeters. Although you can use any type of Vision Guide camera calibration, you only need to use a Standalone calibration.
The calibration sequence needs a sequence that uses one object for each workpiece.
Place two workpieces on the conveyor as shown below.
It is recommended to place the two parts diagonally in the field of view. Also, the first object of a sequence must be taught with the robot as Part 1. The second object of a sequence must be taught with the robot as Part 2.
To make it as easy as possible for operators to calibrate the conveyor, the parts that will be found in the vision sequence should be located such that part 2 is after part 1 in the direction of part flow. In the figure below, object 1 in the vision sequence is Corr01, which locates Part 1. Object 2 is Corr02, which locates Part 2.
| Symbol | Description |
|---|---|
| a | Work 2 |
| b | Work 1 |
| c | Direction of the conveyor motion |
| d | Conveyor |
| e | Vision search area. |
KEY POINTS
When calibrating the vision conveyor tracking, pay attention to the followings to calibrate properly.
- Check the conveyor direction in the image display.
- In "teaching in the vision search area", place the work 1 on the upstream side and the work 2 on the downstream side.
- Set the objects for detecting the work 1 and 2 in numerical order in the calibration sequence.
- When you place something like letters or patterns around the workpiece to distinguish the workpiece 1 and 2, it will be easier to set the object order of the vision sequence.
The orientation of the camera's FOV displayed in the image display may differ from it actually looks. See the illustrations below. When the camera’s mounting direction is reversed, you need to pay attention to the positional relation of the workpieces and the vision objects.
