Tool Setting Using Camera
Tool coordinates of the tool installed at the end of the robot can be detected by using a fixed camera.
The tool setting wizard has almost the same steps as the wizard in Tool setting of camera installation position.
Create a vision sequence necessary for detecting a target 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.
Select either of the following buttons.
- [Define a tool using a calibrated upward camera]
This function is enabled when the calibrated upward camera is specified to the calibration property of the sequence. This is used when changing used tool or setting other tool when calibration of upward camera. - [Define a tool using a non-calibrated fixed camera]
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.
When using the calibrated upward camera, select objects as well. Only the object which has RobotToolXYU Result can be selected.
Refer to the following for details.
"Vision Guide 8.0 Properties & Results Reference - RobotToolXYU"
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
When using a fixed camera which is not calibrated, configure the following items. When calibrated fixed camera is used, setting is not 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 tool setting.