Stationary Part and Shuttling Vision System

System Configuration

 

Application: Part is arbitrarily placed in golden pose on a X-Y-Theta motion stage at run time.

Camera 1: Travels between camera shuttling pose 1 and pose 2.

PartID 1: Locate the Part.

StepID 1: Locate the first feature of the part at shuttling camera pose 1 (acquisition pose 1).

StepID 2:  Locate the second feature of the Part at shuttling camera pose 2 (acquisition pose 2).

CalibID 1: Hand-Eye Calibration at shuttling camera pose 1.

CalibID 2: Hand-Eye Calibration at shuttling camera pose 2.

Prerequisites:

  • The VGRDefinePartAdvanced function is used to define PartID 1 on a spreadsheet with false ShuttlingPart option, which references two locate tools with different StepIDs (1 and 2), and different CalibIDs (1 and 2).

  • The MovingCam option in VGRHandEyeCalibration is false.

  • Locate tools referenced by the function need to be setup/trained to find both features.

  • System is properly calibrated at shuttling camera pose 1 and 2, respectively for CalibID 1 and 2.

Training

  1. Place the Part on the stage in the golden pose, or move the stage to align the Part pose with the golden pose.

    Move the camera to Shuttling Pose 1 to bring the first feature into the FOV of the camera and locate the first feature.

    Command: LF,1,0,<current stage pose>

  2. Move the camera to Shuttling Pose 2 to bring the second feature into the FOV of the camera and locate the second feature.

    Command: LF,2,0,<current stage pose>

  3. Register the previously located feature poses as golden pose.

    Command: TP,1,1

Run time

Part is in arbitrary run-time pose.

  1. Move the camera to Shuttling Pose 1 and locate the first feature.

    Command: LF,1,0,<current stage pose>

  2. Move the camera to Shuttling Pose 2 and locate the second feature.

    Command: LF,2,0,<current stage pose>

  3. Get the stage pose to bring the Part to golden pose.

    Command: GP,1,1,ABS,<current stage pose>

    Return String: GP,1,<run-time stage pose>

  4. Move the stage to the returned pose.