Tips for System Construction
Tool Settings
In order to realize precise pickups, the end effector of the robot needs to pick up the workpieces correctly with a tool such as a vacuum pad attached.
To pick up the workpiece accurately by the tool, it is necessary to configure the tool in [Tools] page.
Eccentricity of the tool causes a constant pickup position gap. Make sure to configure the tool settings.
Also, adjustment by the tool settings is not effective for the improper tool such as a randomly-distorted vacuum pad due to the degenerated rubber. Make sure to use the proper tool.
KEY POINTS
For more details on tool settings, see below.
For details on tool number selection, see below.
After adjusting the tool, make sure to check the operation and ensure that the calibration result is accurate.
Installation and Environment
In order to realize precise pickups, the camera and the conveyor should be installed in the proper environment and calibrated properly.
Install the system with attention to the following points.
Important Points for Installation of the Conveyor System
Use a proper camera and lens. Configure a work distance (distance from the lens to the object) properly. Also, ensure parallelism of the camera and the conveyor in order not to cause distortion of the field of view (FOV).
Ensure horizontality of the horizontal conveyor to match the positions of the robot coordinate system and the conveyor coordinate system.
For the tilted conveyors, calibrate the tilt properly.
If the encoder slips, pulse of the conveyor movement cannot be counted correctly.
If the contrast of the workpiece and the conveyor is low, edges of the workpiece are difficult to be detected.
Ambient vibration and source of the impact may cause slippage and backlash of the camera, the conveyor, and the workpieces. It may result in decrease in accuracy.
General fluorescent lights have periodic flickers and may affect the work detection. Consider using fluorescent lights specialized for image processing or the LED lighting system.
KEY POINTS
Select and install the appropriate cameras and lenses to realize work detection which satisfies required pickup accuracy. Required work detection accuracy should be threefold of the required pickup accuracy. For details on modification of the FOV for accuracy improvement, see below.
Tips for Vision Calibration - "Field of View of Cameras"