Local Detection Using a Camera
Local detection can be performed by using a camera with a 6-axis robot.
Select the [Locals] tab in the Robot Manager and start the Local Wizard. These setting wizards can be displayed from the calibration wizard.
Defining a Local on Work Plane
This section describes how to define the local coordinate parallel to the work plane by detecting a calibration plate on the work place by the mobile camera. This function is enabled when the mobile camera which is mounted on Arm #6 (J6) on the 6-axis robot is used.
Note: To configure the local on the work plane by using a camera, use an optional calibration plate. Jog the robot so that the camera’s optical axis and the calibration plate will be approx. 90º. Local setting using a camera may not be available depending on hardware configuration of the camera. Refer to the following.
Overview
Defining of the local coordinate using a camera can be executed in the local wizard. Run the local wizard by either of the following ways.
- Select the [Locals] tab in the Robot Manager.
Click the [Detect the local of a calibration plate using a mobile camera] button.
Click the [Local Wizard...] button.
- The [Local Wizard...] button appears when a robot local number other than “0” is selected in the step for selecting a robot local number in the calibration wizard. Click the button.
The following describes the steps after starting the local wizard. (Contents of the wizard vary depending on choice of the items)
Step 1: Select local number
Select a local number to configure.
Click the [Next] button.
Step 2: Select vision component
Set the following items.
| Item | Description |
|---|---|
| Camera | Select a camera used in the calibration. Also, the camera needs to be mounted on Arm #6 (J6). |
| Sequence | Select a vision sequence for detecting the calibration plate. |
| Camera Tool | Specify the tool number for the calibrated mobile camera. When “Auto” is selected, the camera tool will be detected automatically. |
| Calibration Plate | Select type of the calibration plate. |
| Teach Local Reference Point | When the local reference points are taught, the detected local plane will be set to pass the taught points. When the reference points are not taught, the local plane will be set to pass Tool 0. If this function is enabled, it is necessary to jog the robot so that the end effector comes to the local plane and teach points. |
Click the [Next] button.
Step 3: Teach camera point
Click the [Teach...] button. The jog dialog box appears.
Jog the robot and move the center of the calibration plate to the center of the field of view.
Click the [Teach] button when the camera point is determined. Go to the next step.
Step 4: Teach local reference point
This step appears only when the local reference point needs to be taught.
Clicking the [Teach...] button displays the jog dialog box.
Jog the robot so that the end effector comes to the local plane.
Clicking the [Teach] button teaches the point and the wizard returns to this step.
Step 5: Define Vision local
Change the following settings as necessary.
Change the following settings as necessary.
| Item | Description |
|---|---|
| Target Tolerance | Detection is performed so that the error on the image can be settled within the allowance specified in this box. |
| Max move distance | Specify a limit of move distance for the arm end. If “0” is specified, distance will not be restricted. |
| Max pose angle difference | Maximum displacement angle of Tool orientation (UVW). (Unit: °) If “0” is specified, angle will not be restricted. |
| LJM mode | Specify the value used for LJM function of SPEL+. The LJM mode controls the posture flag for point data to prevent unintentional rotation of the wrist. If “0” is specified, do not use LJM |
| Robot Speed | Sets the robot speed. Set a low speed value to configure precise local settings. |
| Robot Acceleration | Sets the robot acceleration. Set a low acceleration value to configure precise local settings. |
Click the [Execute] button. After the detection is completed, results will be displayed. Check the results.
Clicking the [Finish] button sets the results to the specified local number.
KEY POINTS
The robot moves automatically according to the results of calibration plate recognition and detection of the target. Be careful of interference between the robot and peripherals. Also, use with avoiding singularity nearby posture that each axis extends to prevent an error during local detection.