# Alignments

Alignment component allows user to configure the techniques for alignment, assembly, or inspection computation. One alignment in Configuration Wizard has one corresponding task in the auto-generated project.

## Add

Click Add Alignment to add an alignment component in the wizard workspace.

To change the name of it, double-click Alignment0 to edit it.

## Connect

Alignment needs to be connected to part component first before its configuration. For alignment pose computation, the component only needs to connect to one part. For assembly pose computation, it should connect to these two parts to be assembled.

When the component connects to the first part, the wizard will set its default type as "Center Using Golden Pose"; click "Yes" in the pop-up dialog to continue.

When the component connects to the second part, the wizard will change its type to "Custom"; click "Yes" in the pop-up dialog to continue, you can change the type afterward.

There could be cases when you try to connect the second part to an alignment component, but the component does not accept:

The cause of this phenomena is both parts are on the same station, which is apparently a mistake. To solve it, check and reconfigure the motion devices in both parts, make sure the two devices are different, then reconnect them to alignment component.

## Set

Open the alignment dialog box, configure the following parameters according to real application.

Type

Option | Description
--- | ---
Custom | Select this option to create an empty PoseComputer subtask inside the corresponding alignment task in generated project. Users can customize this subtask, and when the Configuration Wizard reruns, the customized content in this PoseComputer subtask will be maintained.
None | Select this option when an alignment component has no input connections.
Center Using Golden Pose | This option can be used either for one part alignment application or two parts assembly application where each part aligns to its target pose defined during train time. For more information, please refer to Alignment Procedure and Assembly Procedure Using Golden Pose
Center Using Paired Features | Select this option to align parts using one part's features as target pose for another part. For more information, please refer to Assembly Procedure Using Paired Features.
Multiple Parts | Select this option to align multiple parts to multiple trained target poses.
AOI | Select this option to run inspection on run time part, including measurement and gauging. AOI function allows users to get features from more than one part, however, the feature names should be unique among all parts.

Tip: It is not recommended to make any changes to auto-generated contents inside a PoseComputerSubTask of an alignment task to avoid possible damage to it. However, if the user is confident enough to make modifications in it, and would like to keep these modifications when the wizard rerun is needed, it can be done in this way: 1) choose other types in alignment component for the first time of project generation to let the wizard generate the needed pose computer contents; 2) make modifications inside the PoseComputerSubTask that are very necessary for the application; 3) change the alignment type to 'Custom' in the alignment component and rerun the wizard.

Technique

Option | Description
--- | ---
Custom | Select this option to keep the PoseComputer subtask empty. Users can customize this subtask, and when the Configuration Wizard reruns, the customized content in PoseComputer subtask will be maintained.
Align To Gripper | Select this option when a part paced on a stationary platform need to be picked up by a gripper. The gripper will first adjust its own position based on the vision system's feedback, then pick the part up at a fixed relative pose to the part. For more information, please refer to Align to Gripper Assembly Procedure Using Golden Pose
Align To Base | Select this option when a part is attached to a motion device(such as a stage), after alignment pose computation, the part is moved by the motion device to the part's trained golden pose. For more information, please refer to Align to Base Assembly Procedure Using Golden Pose
Assembly Blind Transfer | Select this option when the parts are handled in this way: the first part is placed on and moved by a motion device at the feedback of the vision system to the expected relative pose of the second part; one part is blindly transferred to the other part's side, and the two parts are assembled. For more information, please refer to Assembly Blind Transfer Assembly Procedure Using Golden Pose
Assembly Guided Pick | Select this option when the parts are handled in this way: the picking device such as robot or gripper adjusts its own position first before picking up the first part based on the vision system's guidance; the picking device picks the first part up and moves it over to the second part where the two parts are assemble together. For more information, please refer to Assembly Guided Pick Assembly Procedure Using Golden Pose
Assembly Guided Place | Select this option when the parts are handled in this way: the picking device such as robot or gripper blindly picks up the first part and then adjust its pose together with the part to fit it to the second part's pose based on the vision system's guidance; the picking device moves the first part over to the second part's side, and the two parts are assembled together. For more information, please refer to Assembly Guided Place Assembly Procedure Using Golden Pose
Split Axis | Select this option when three elements of moving freedom(X/Y/Theta) are split to 2 or 3 different stages in machine.
Measurement | Select this option to run measurement in alignment task.

Pick Part Name

The name of the part whose pose will be adjusted by a motion device during alignment/assembly process. It is automatically selected by the wizard based on user's configuration.

Use Custom Tool Block

Select this check box to have the run-time application present a VisionPro tool block edit control that you can use to implement.

## Delete

Select the alignment component, and hit "Delete" button on keyboard.