Detecting Mobile Camera Mount Position
The mount position of a mobile camera can be detected.
A camera installed on Arm #2 (J2) of SCARA robot is configured as a parameter for additional arm settings.
A camera installed on Joint #4 (J4) of SCARA robot or Joint #6 (J6) of vertical 6-axis robot can be configured as a tool.
Tool Setting of Camera Installation Position
The following describes the steps to configure tool settings for a camera installed on Joint #4 (J4) of SCARA robot or Joint #6 (J6) of vertical 6-axis robot.
Create a vision sequence necessary for detecting a target object in advance. Refer to the following.
Creating Vision Sequences for Calibration
Run the tool wizard by either of the following ways.
- Select the [Tools] tab in the Robot Manager. Select the [Use a camera to define the tool.] and click the [Tool Wizard] button.
- The [Tool Wizard...] button appears when a tool number other than “0” is selected in the step for selecting a tool number in the calibration wizard. Click the button.
Step 1: Select type
When the tool wizard is run, the following dialog box appears. Click the [Define a tool for a mobile camera] button.
Click the [Next] button.
Step2: Select the tool number
Select a tool number to configure.
Click the [Next] button.
Step 3: Configure Vision
Select a sequence to detect a camera and target object.
Click the [Next] button.
Step 4: Teach camera point
Click the [Teach...] button. The point teaching dialog box appears.
Jog the robot so that the target object can be detected near the center of the field of view.
Click the [Teach] button. Go to the next step.
Step 5: Execute
Change the following settings as necessary.
| Item | Description |
|---|---|
| Initial Rotation | Angle to rotate the tool initially in a rough positioning. (°) |
| Final Rotation | Final rotation angle of the tool (more than 90° is recommended). The greater the angle of final rotation is, the higher accuracy is provided to tool setting. |
| 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. |
| 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 tool number.
KEY POINTS
The robot moves automatically according to detection results of the target object. 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 the tool set.
Arm Setting of Camera Installation Position
The following describes the steps to configure installation position of a camera installed on Joint #2 (J2) of SCARA robots additional arm parameters.
Create a vision sequence necessary for detecting a target object in advance. Refer: Vision Sequence for Local, Tool, and Arm Setting
Run the arm wizard by either of the following ways.
- Select the [Tools] tab in the Robot Manager.
The [Arm Wizard...] button appears. Click the button. - The [Arm Wizard...] button appears when an arm number other than “0” is selected in the step for selecting an arm number in the calibration wizard. Click the button.
Step 1: Select arm number
Select an additional arm number to configure.
Click the [Next] button.
Step 2: Configure Vision
Select a sequence to detect a camera and target object.
Click the [Next] button.
Step 3: Teach camera point
Click the [Teach...] button. The point teaching dialog box appears.
Jog the robot so that the target object can be detected near the center of the field of view.
Click the [Teach] button. Go to the next step.
Step 4: Execute
Set the following items as necessary.
| Item | Description |
|---|---|
| Rotation | Specify a rotation angle (°) used for performing a rough arm setting. |
| Target Tolerance | Specify a pixel distance to consider that the vision detection result matches the target position. |
| Mode | Rough: A mode to run a rough arm setting. Robot motion is small. Robot aims at accuracy of approximately 1 mm. Fine: A mode to run a fine arm setting. Robot moves largely with arm orientation change. Robot aims at high accuracy rather than rough accuracy. |
| Max move distance | Specify a limit of move distance for the arm end. If “0” is specified, distance will not be restricted. |
| 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 additional arm number.
KEY POINTS
The robot moves automatically according to detection results of the target object. Be careful of interference between the robot and peripherals.