# Things to Consider before Configuration

To configure a Wizard Configuration correctly, one needs to fully understand the application about devices used, stations, parts, feature types, alignment methods, etec.

## Devices

These are questions to be answered before configuring the Devices in Configuration Wizard.

About motion devices:

1. How many stations are there in this application?
2. Whether the station is movable or stationary?
3. Whether calibration loop task is needed for hand-eye calibration?

About cameras:

1. How many cameras used for each station?

About light controllers:

1. How many light controllers used for each station?
2. How many channels each light controller has?

## Calibration

The first thing to consider about calibration is whether a calibration plate (such as calibration mylar sheet) can be used as calibration target in the machine. For cross calibration which requires calibration target to be transferred from one station to another, is the mechanical device capable of transferring either a calibration plate or a real part? If calibration plate can be transferred, choose it as the first option. If not, then use real part as calibration target. If both are not, then use manual calibration instead.

### Calibrations for movable station

For movable station, use hand-eye calibration type.

Here are aspects to consider for hand-eye calibration.

1. Will cameras move or stay stationary during hand-eye calibration?(moving hand-eye or stationary hand-eye)

2. Can calibration plate be moved by the motion device during hand-eye calibration? (Choose real part if not)

Here is an example of a hand-eye calibration configuration for two stationary cameras, using checkerboard as target.

In the movable station, cameras may need to be shuttled to a different position to acquire images of other regions of the run time part. In this case, a cross calibration is needed. Here is an example of adding a cross calibration for the same movable station.

### Calibrations for platform

For stationary platform, check first whether it would be used for assembly or inspection application.

#### Assembly application

To establish a shared coordinated between the movable station and the platform, a cross calibration is needed between the two stations.

In the application example below, a calibration plate is first placed on Stage0, and two images of it are acquired by Camera0 and Camera1. After that, then calibration plate is transferred by mechanical device from Stage0 to Platform0, where other two images are acquired by Camera2 and Camera3.

So the cross calibration component should connect to four cameras: the first two acquire at one time, and the second two acquire at another time. However, cross calibration component cannot know whether those images should be captured at the same time or not. By default it sets all their position index as 0. Therefore, user needs to manual change the position indexes of Camera2 and Camera3 from 0 to 1. Following that, unifies the cross calibration component with the hand-eye calibration component.

If current platform has camera shuttling within it, then the cross calibration should cover three acquisition positions: one is the position when calibration target is at the movable station, two are when calibration target is at the platform station.

In the application example below, calibration target is first placed under FOVs of Camera0 and Camera1 so the two cameras can acquire images at position 0, then moved by mechanical transfer from Stage0 to Platform0 so that Camera2 and Camera3 can capture images of it first at position 1, second at position 2. For more information about cross calibration, please refer to Applications of Cross-Calibration.

Therefore, the cross calibration component needs 6 images from three different positions, link the cameras as blow and change the position indexes of the last four input terminals, and then unify it with the hand-eye calibration component.

#### Inspection application

Inspection applications does not require interacting with motion device, therefore, checkerboard calibration will be enough. If camera shuttling is involved, then it can be configured as below:

However, if that platform already has a checkerboard-based cross calibration component, then the following inspection finder can reuse the component without creating additional checkerboard calibration.

## Feature Finding

The following questions should be considered before configuring a finder component:

1. What the feature type of current part?

   Point, Line, Generic Feature, Multiple Parts, AOI, or Custom type.

2. How many images should be taken by each camera at each position for feature finding?

   In most cases, Number of Images per Camera is set as 1. However, when multiple images should be taken from the same camera at one position, this parameter should be changed accordingly.

3. Whether image acquisitions needed in the connected calibration are all required for the finder?

   By default, a finder inherits all the acquisition settings from its connected calibration component. However, users can choose whether images from given input terminals should be acquired for the finder.

   In the example below, image acquisitions from Camera0 and Camera1 are only required for cross calibration to establish the shared coordinate between stage and platform. However, once the coordinate is established, the finder does not need to acquire image from Camera0 nor Camera1 anymore, but only images from cameras within the platform. Therefore, the user needs to manually uncheck the "Will acquire" check box for the first two input terminals in the finder component.

## Part

Check which part rests on which station.

## Alignment

Here is a decision tree for your reference about how to check an application type:

If it is an one-part application, then it is either Align to Base or Align to Gripper depending on whether the station is movable or not.

If it is a two-part application, there are four cases:

- Align to Base if both are placed on movable stages, the application is an two-part alignment application in which each part has its own alignment component and align to its own golden pose in run time.
- Assembly Blind Transfer if only one part is placed on movable stage.
- Assembly Guided Pick if both are placed on stationary platform, and motion device will adjust its position before picking up one part.
- Assembly Guided Place if both are placed on stationary platform, and motion device will adjust its position after blindly picking up one part.