# Recipe Configurations

AlignSight Recipe Configurations specify the relation between Features, Parts and Steps.

The term Feature applies to a pattern on an image that can be trained by the user and then be located by the camera. A CameraFeature is a Feature that is located on a specific a camera. AlignSight cameras currently support up to four CameraFeatures.

A PartFeature (PF) is a Feature assigned to a Part. With the supplied Recipe Configurations, a Part can have one or two Features, locating on the same or on different cameras.

A Part defines a collection of Features (one or two). A Part pose is computed from the poses of its assigned features. The Part pose is used to compute the final Alignment pose.

A Step defines the Features to be located in a single acquisition cycle. One or multiple cameras can be involved. A Step also defines which Exposure setting to be used for each camera and, in case of a ShuttlingCamera configuration, at which shuttling position the camera will be, i.e. which calibration shall be used to get the feature location.

Depending on the number of cameras in the system, the following configurations (Feature – Part – Step relations) can be selected.

In the tables below, the PartID and StepID columns show the IDs to be provided at runtime with the LF, GP, TA, XA, TT, TTR, XT commands.

## One Camera Systems

### 1 Feature Configuration

This configuration will be selected by default. It supports only one feature:

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 | 1

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1 | 1 | 1

### 2 Features Configuration

This configuration supports two features. The features can be used for two individual parts (one feature each) or one part with two features:

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 | 1
2 | 1 | 2 | 2
3 | 1 | 1 + 2 | 1

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1 | 1 | 1
2 | Part 2 | 2 | 1
3 | Part 3, PF 1 + 2 | 1 | 1
4 | Part 3, PF 1 | 1 | 1
5 | Part 3, PF 2 | 2 | 1

### 3 Features Configuration

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 | 1
2 | 1 | 2 | 2
3 | 1 | 3 | 3
4 | 1 | 1 + 3 | 1

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1 | 1 | 1
2 | Part 2 | 2 | 1
3 | Part 3 | 3 | 1
4 | Part 4, PF 1 + 2 | 1 | 1
5 | Part 4, PF 1 | 1 | 1
6 | Part 4, PF 2 | 3 | 1

### 4 Features Configuration

This configuration uses all four features of the camera. It can be used for VGR applications with e.g. one robot mounted camera for pick and place. It supports four parts (Part 1...4, one feature each) or two parts (Part 5+6, two features each).

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 | 1
2 | 1 | 2 | 2
3 | 1 | 3 | 3
4 | 1 | 4 | 4
5 | 1 | 1 + 3 | 1
6 | 1 | 2 + 4 | 2

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1 | 1 | 1
2 | Part 2 | 2 | 1
3 | Part 3 | 3 | 1
4 | Part 4 | 4 | 1
5 | Part 5, PF 1 + 2 | 1 | 1
6 | Part 6, PF 1 + 2 | 2 | 1
7 | Part 5, PF1 | 1 | 1
8 | Part 5, PF2 | 3 | 1
9 | Part 6, PF1 | 2 | 1
10 | Part 6, PF2 | 4 | 1

### ShuttlingCamera Configuration

This configuration supports a camera shuttling between two positions.

Different HandEye calibrations will be applied on the different shuttling positions.

No exposure setting is defined for the PartID, because the part will always be located in two steps, feature by feature.

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1+2 | N/A

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1, PF 1 | 1 | 1
2 | Part 1, PF 2 | 2 | 2

### ShuttlingPart Configuration

With this configuration the part to be aligned is shuttled between two positions, in order to bring the part features into the FOV of the stationary camera.

No exposure setting is defined for the PartID, because the part will always be located in two steps, feature by feature.

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 + 2 | N/A

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1, PF 1 | 1 | 1
2 | Part 1, PF 2 | 2 | 1

## Two Camera Systems

### 1 Feature Per Camera Configuration

This configuration will be loaded by default when a new Recipe is created for a two-camera sensor.

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 | 1, -
2 | 2 | 1 | -, 1
3 | 1 + 2 | 1 + 1 | 1, 1

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1 | 1, - | 1
2 | Part 2 | -, 1 | 1
3 | Part 3, PF 1 + 2 | 1, 1 | 1
4 | Part 3, PF 1 | 1, - | 1
5 | Part 3, PF 2 | -, 1 | 1

### 2 Features Per Camera Configuration

This configuration supports a total of four features (two per camera).

PartID | Camera | Camera Feature | Exposure
--- | --- | --- | ---
1 | 1 | 1 | 1, -
2 | 1 | 2 | 2, -
3 | 1 | 1 + 2 | 1, -
4 | 2 | 1 | -, 1
5 | 2 | 2 | -, 2
6 | 2 | 1 + 2 | -, 1

StepID | Locates | Exposure | Calibration
--- | --- | --- | ---
1 | Part 1 | 1, - | 1
2 | Part 2 | 2, - | 1
3 | Part 3, F1 + 2 | 1, - | 1
4 | Part 4 | -, 1 | 1
5 | Part 5 | -, 2 | 1
6 | Part 6, F1 + 2 | -, 1 | 1
7 | Part 3, F1 | 1, - | 1
8 | Part 3, F2 | 2, - | 1
9 | Part 6, F1 | -, 1 | 1
10 | Part 6, F2 | -, 2 | 1

Note: All features of the selected configuration must be trained.
Note: If the default configurations above do not meet the application requirements, customized configurations can be provided. Please contact your Cognex sales engineer.