3D Tool Settings Using the Camera
If you are using a 6-axis robot, you can use a fixed camera to set the 3D tool (3D position / posture detection) of the tool attached to the tip of the robot.
3D tool settings using the camera are done from the Robot Manager Tool Wizard. Run the Tool Wizard in one 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 the [Define a 3D tool using a non-calibrated fixed camera] option.
Click the [Next] button.
Step2: Select the tool number
Select a tool number to configure.
If you want to find the posture of the tool, check [Calculate tool orientation (UVW)]. Select either Bar type or Plane type as the tool type.
Bar type: Finds the posture of a rod-shaped tool such as a cylinder.
Planar type: Finds the posture of a flat tool. You can also find the tool posture by using the horizontal plane of the workpiece held by the tool.
Click the [Next] button.
Step 3: Select camera
Select the camera to use for find target on the tool.
Click the [Next] button.
Step4: Select points and Vision Sequences
Select the robot point and vision sequence to use for each target detection on the tool.
The robot point specifies where the target is within the field of view of the camera. Set robot points 1 and 2 in different postures. Robot points can also be taught from the point teaching dialog by clicking the [Teach ...] button.
For Vision Sequence, select the vision sequence to use for target detection. Select a vision sequence according to robot points 1 and 2, respectively. You can also create a vision sequence from the Vision Guide dialog by clicking the [Vision Guide] button.
If [Calculate tool orientation (UVW)] is checked in Step2, select the tip, center, and root tabs and select the robot points and vision sequences in each tab.
Click the [Next] button.
Step5: Configure calibration parameters
Configure the items shown in the table below.
| Item | Description |
|---|---|
| Target Tolerance | Target detection is performed so that the error on the image can be settled within the allowance specified in this field. |
| 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. |
| Local | Specify a local number with an XY plane parallel to the camera's imaging plane. |
Click the [Next] button.
Step6: Execute 3D calibration
Set the initial rotation and final rotation as required for each target.
Click the [Execute] button to start the 3D tool settings. If completed normally, the calibration completion will be “Yes”.
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.
Click the [Execute] button for tip. Calibration complete will be changed to "Yes" after a successful calibration. If [Calculate tool orientation (UVW)] is checked in Step2, click the [Execute] button at for center, and then for root. Calibration complete will be changed to "Yes" after a successful calibration.
Click the [Next] button. If [Calculate tool orientation (UVW)] is checked in Step 2, proceed to Step 7. If it is not checked, proceed to Step 8.
Step7: Adjust the tool orientation
Select the longitudinal axes in of the new tool. If necessary, set the rotational offset around the longitudinal direction. You can also check the operation in the tool coordinate system on the point teaching screen that opens when you click the [Jog ...] button.
Step 8: Finish
The result is displayed. Check the result.
Click the [Finish] button to save the result for the specified tool number.