Adept AdeptSight User Guide

AdeptSight User's Guide, v3.2.x

This is a PDF/print version of the AdeptSight User's Guide online documentation. A Table of Contents is provided so that you can locate the desired topics. Because the AdeptSight User's Guide was designed for online viewing, there may be slight formatting anomalies in the PDF/print version. Additionally, links to external documents will not work in the PDF file.

For optimal viewing and navigation, please use the HTML version of this document, which can be accessed from the Adept Document Library.

NOTE: Please see the Adept ACE ReadMe File, which is included with your Adept ACE software, for a

description of any recent changes.

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The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks of

Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept ACE, ACE PackXpert, AdeptSight, and V+ are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

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Table Of Contents

AdeptSight Overview 15

Compatibility 15 Documentation Map 16 AdeptSight 16 Device 17 Tool 18 Related Topics and Manuals 20

Prerequisites

Hardware 21 Software 21 Hardware Installation and Startup 22 Software Installation and Startup 22 Related Topics and Manuals 23

Vision Overview

Vision Devices 24 Vision Tools 25 Sequences 25 Related Topics 25

User Interface

Workspace Explorer 26 Display Window 26 Grid of Results 27 Configuration Window 27 The Vision Window 28 Virtual Cameras 29 Images 29 Tabs in the Vision Window 30 3D Visualization Window 30 Workspace Explorer 32 Toolbars 33 Shortcut Menus 38 Object Editors 41 Dockable Editor Windows 43 Editor Window Management 45

Calibration Overview

Basic Camera Calibration 48 AdeptSight Belt Calibration 48 AdeptSight Camera Calibration 48 AdeptSight Latch Calibration 48 Related Topics 48

Special Tools Overview

Sequence 49 OverlapTool 49 Communication Tool 49

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Related Topics 240

Arc Caliper

Configuration 242 Results 243 Edge Pair Collection Editor 244 Related Topics 244 Configuring Arc Caliper Properties 245 Related Topics 252 Configuring Arc Caliper Properties - Advanced 253 Tool Sampling 253 Related Topics 255 Arc Caliper Results 257 Grid of Results 257 Related Topics 258

Arc Edge Locator

Configuration 261 Results 261 Edge Constraint Editor 262 Related Topics 262 Configuring Arc Edge Locator Properties 263 Configuring Arc Edge Locator Properties - Advanced 271 Tool Sampling Parameters 271 Related Topics 272 Arc Edge Locator Results 273 Display Window 273 Related Topics 275

Arc Finder

Configuration 277 Results 279 Related Topics 280 Configuring Arc Finder Properties 281 Properties 282 Related Topics 285 Configuring Arc Finder Properties - Advanced 287 Advanced Properties 287 Related Topics 289

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Arc Finder Results 291 Display Window 291 Related Topics 292

Blob Analyzer

Image Segmentation 293 Histogram 294 Thresholding 294 Configuration 295 Results 297 Related Topics 297 Configuring Blob Analyzer Properties 299 Segmentation Parameters 299 Blob Selection and Display 306 Related Topics 306 Configuring Blob Analyzer Properties - Advanced 307 Tool Sampling Parameters 307 Related Topics 312 Blob Analyzer Results 313 Display Window 313 Grid of Results 313 Enabling Blob Analyzer Results 313 Description of Blob Analyzer Results 314 General Results 314 Perimeter Results 315 Intrinsic Inertia Results 316 Extrinsic Inertia Results 317

Intrinsic Bounding Box Results 318 Extrinsic Bounding Box Results 321 Grey-Level Results 323 Topological Results 324 Related Topics 324

Calculated Arc

Configuration 326 Results 327

Calculated Frame

Configuration 331 Results 331

Calculated Line

Configuration 335 Results 335

Calculated Point

Configuration 339 Results 339

Calibration Grid Locator

Configuration 342 Results 342

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318

325

329

333

337

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Caliper

Configuration 346 Results 346 Related Topics 348 Configuring Caliper Properties 349 Related Topics 356 Configuring Caliper Properties - Advanced 357 Edge Detection Parameters 357 Tool Sampling Parameters 357 Related Topics 358

Color Matching

Creating a Filter 361 Configuration 361 Results 363 Related Topics 363 Configuring Color Matching Properties 365 Related Topics 367 Creating and Configuring Color Filters 369 Configuring Color Filters in the Color Finder 369 Color Values 370 Color Tolerances 372 Related Topics 372

Custom Vision Tool

Configuration 375 Results 376

Edge Locator

Configuration 378 Results 379 Additional Menus 379 Related Topics 379 Configuring Edge Locator Properties 381 Related Topics 387 Configuring Edge Locator Properties - Advanced 389 Related Topics 390

Gripper Clearance Tool

Description 391

Related Topics 392 Configuring Gripper Clearance Properties 393 Inspection Configuration 393 Thresholds 394 Tails 395 Custom Menu 395 Tool Links 396 Display 397 Results Logging 397

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Related Topics 397 Gripper Clearance Results 399 Related Topics 400

Image Histogram

Configuration 403 Results 404 Related Topics 404 Configuring Image Histogram Properties 405 Tails 405 Related Topics 407 Configuring Image Histogram Properties - Advanced 409 Related Topics 410 Image Histogram Results 411 Related Topics 413

Image Processing

Configuration 415 Results 416 Custom Editor 416 Operand Image 418 Modes of Operation 419 Related Topics 422 Configuring Image Processing Properties 423 Arithmetic Operations 424 Assignment Operations 426 Transform Operations 426 Logical Operations 427 Filtering Operations 427 Morphological Operations 434 Histogram Operations 435 Related Topics 437 Configuring Image Processing Properties - Advanced 439 Arithmetic Properties 439 Assignment Properties 439 Configuration Parameters 440 Filtering Properties 440 Histogram Properties 441 Logical Properties 441 Morphological Properties 441 Transform Properties 441 Image Processing Tool Results 442 Related Topics 442

Image Sampling

Configuration 443 Results 444 Custom Display 444

Image Sharpness

Input 446 Configuration 446

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415

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Results 447 Related Topics 448 Configuring Image Sharpness Properties - Advanced 449 Related Topics 452 Image Sharpness Results 453 Related Topics 454

Inspection

Configuration 455 Results 463 Advanced Properties 464

Line Finder

Configuration 468 Results 469 Related Topics 469 Configuring Line Finder Properties 471 Region of Interest (ROI) 472 Offset 472 Relative To 472 Search Area 472 Guideline Offset 473 Related Topics 473 Configuring Line Finder Properties - Advanced 475 Related Topics 476 Line Finder Results 479 Related Topics 480

Locator

Configuration 482 Results 484 Additional Menus 485 Related Topics 485 Configuring Locator Properties - Advanced 487 Search 490 Model 495 Instance Output Constraints 496 Related Topics 498

Locator Model

Properties 499 Results 500 Additional Menus 501 Related Topics 504

Pattern Locator

Properties 507 Results 507 Related Topics 508 Configuring Pattern Locator Properties 509 Related Topics 513 Configuring Pattern Locator Properties - Advanced 515

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Tool Sampling Parameters 515 Related Topics 517 Pattern Locator Results 519 Related Topics 519

Point Finder

Configuration 522 Results 523 Related Topics 523 Configuring Point Finder Properties 525 Related Topics 526 Configuring Point Finder Properties - Advanced 527 Region of Interest (ROI) 528 Offset 528 Relative To 528 Search Area 528 Guideline Offset 529 Related Topics 530

Remote Vision Tool

Properties 532 Results 532 Basic Steps for Configuring Remote Vision 533

521

531

Application Samples 537

Preparing for the Application Sample 537 Selecting the Application Sample 538 Programming the Application Sample 541 Related Topics 541

V+ Table-Mounted Sample

AdeptSight Overview

The AdeptSight software is a vision application built on the AdeptSight framework. It can be used as a standalone application, or in conjunction with other AdeptSight applications.

The AdeptSight software contains all the tools necessary to locate and inspect products—you use the mouse and menus to tell the software where to put the tools and how to interpret the results.

In this way, the AdeptSight software allows quick development of robust and accurate visionguided location and inspection applications through its graphical user interface, without requiring low-level programming.

The vision features of the AdeptSight software are based on Adept HexSight tools.

NOTE:The AdeptSight software requires a USB dongle with AdeptSight license to enable complete functionality. This dongle is included with your AdeptSight or AdeptSight software.

If you're new to vision guidance/inspection, you should read Vision Basics - Resolution on page 632.

The AdeptSight software also provides tools for calibrating cameras and conveyor belts to be used with AdeptSight applications.

l You can use the AdeptSight software to set up a camera, calibrate the camera, and

then add vision tools. See Vision Overview on page 24.

l You can calibrate the vision system to the robot and, optionally, a conveyor. See Cal-

ibrations on page 51.

Cameras must be calibrated, both for vision parameters and for their physical relationship to other components, before they are used with an AdeptSight application.

Conveyor belts, if used, must be calibrated with the cameras and robots they interact with.

The AdeptSight software provides several application samples you can use to learn about the basic features and functions of the software. See Application Samples on page 537

Compatibility

The AdeptSight software can be used either as a standalone product or with other AdeptSight-based applications. When used with the ACE PackXpert, for example, it allows you to locate and inspect products being handled by the ACE PackXpert application in a “point and click” environment.

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Documentation Map

The AdeptSight topics cover everything that appears in the AdeptSight screens after you right-click in the Tree structure of the AdeptSight Workspace Explorer and select:

New > Vision

The contents of that are as follows:

AdeptSight

AdeptSight Belt Calibration

AdeptSight Camera Calibration

AdeptSight Sequence

Communication Tool

Gripper Offset

Overlap Tool

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Device

Adding a Camera

Adding an Emulation Device

Adding a Virtual Camera

Device

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Tool

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Arc Caliper

Arc Edge Locator

Arc Finder

Blob Analyzer

Calculated Arc

Calculated Frame

Calculated Line

Calculated Point

Calibration Grid Locator

Caliper

Color Matching

Tool

Custom Vision Tool

Edge Locator

Gripper Clearance Tool

Image Histogram

Image Processing

Image Sampling

Image Sharpness

Inspection

Line Finder

Locator

Locator Model

Pattern Locator

Point Finder

Remote Vision Tool

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Prerequisites

Hardware

You should be familiar with your robot and its capabilities. In particular, you should know:

l How to power-up the controller

SmartController User's Guide

l How to power-up and perform start-up calibration of the robot, which is explained in

the user guide for your robot

Adept Document Library

l How to power-up and adjust any other devices in the workcell

l The safety requirements of your robot and any other devices that operate in the work-

cell

WARNING: When run carelessly or by inexperienced operators, robots and other motion devices can severely injure personnel and cause equipment damage.

Adept Document Library

l Basic operation and use of the Adept SmartVision EX, if you will be using one

Adept SmartVision EX User's Guide

l Basic operation and use of the optional control pendant, if you will be using one

Adept T2 Pendant User's Guide (for SmartController CX) or Adept T20 Pendant User's Guide (for SmartController EX)

Software

AdeptSight

You should be familiar with the AdeptSight workspace.

The AdeptSight workspace uses objects to represent items that, when put together, make up a functioning workcell. The workspace is composed of a hierarchy of objects, both physical (like robots and end-effectors) and non-physical (like sequences and variable values).

Some objects are created automatically when you connect to a controller (for example, the controller, robot, and robot grippers). Other objects can be added to provide increased functionality to the workcell.

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Hardware Installation and Startup

After objects have been added to the AdeptSight workspace, the object editors are used to edit their parameters.

For more details, refer to AdeptSight User's Guide.

V+

If you will be using V+ to access and execute the AdeptSight tools, you need to be familiar with the V+ operating system and programming environment. For details, refer to the V+ user and reference guides in the Adept Document

Library.

Application Samples

The AdeptSight software includes application samples to help you learn the user interface and get started with basic application development. For more details, refer to the topic Application Samples on page 537.

Hardware Installation and Startup

Hardware that will be used with the AdeptSight software should already be installed and tested. Hardware in the following list should be installed before proceeding.

l The robot and any devices that will work in conjunction with the robot

l The robot controller and the following option:

Digital I/O

Note that the Cobra i-Series robots do not use an Adept SmartController.

l The vision processor and any of the following accessories:

Cameras

Lighting or strobes

l Workcell equipment, including:

Part feeders

Conveyors

Connections between the workcell equipment and the digital I/O system

Any safety devices needed to prevent injuries during workcell operation

Software Installation and Startup

The AdeptSight User's Guide covers installing the software on your system.

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Vision Overview

A vision system consists of some means of obtaining an image, and some means of processing that image.

l AdeptSight systems typically uses one or more cameras to capture images for proc-

essing. These images can be stored for later processing, if desired.

l Images are processed with AdeptSight vision tools. See Vision Tools on page 229.

This topic introduces some of the concepts and terms used in the other vision topics.

If you're new to vision guidance/inspection, you should read the section on Vision Basics, starting with Vision Basics - Resolution on page 632.

Vision Devices

A vision device can be either a physical camera or an emulated camera. Vision devices are added to the workspace as needed. You can have multiple vision devices in the workspace. See Vision Devices on page 201.

Physical Camera

AdeptSight supports the following physical cameras:

l Basler 1394a

l Basler 1394b

l Basler GigE

A physical camera needs to be calibrated, to establish the relationship between physical distance in the camera's field of view and the pixels returned from the camera. This type of calibration also helps correct for a certain amount of distortion in the lens. This calibration is covered in the section Standalone Camera Calibration on page 207.

If the camera will be used with a robot and/or conveyor belt, the camera also needs to be calibrated with respect to those devices. Those are separate calibrations, distinct from the relatively simple distance-pixel calibration. These calibrations are added as objects in the workspace. See AdeptSight Camera Calibration Interview Wizard on page 75 .

The area that a camera can "see" is called its field of view (FOV).

Emulated Camera (emulation device)

An emulated camera is a collection of stored images that can be used as input, via a virtual camera, to vision tools. Using an existing image, rather than taking an image with a camera, can be useful when setting up a new system, or when

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Vision Tools

troubleshooting. Images taken at a system that is having trouble can be sent to a remote facility for analysis.

Virtual Camera

The interface between AdeptSight and Vision Devices is a virtual camera. Both physical and emulated cameras require the definition of an associated virtual camera. This allows AdeptSight to access either type of camera using the same interface.

Vision Tools

A vision tool is software that performs one or more vision-related operations on its input. Each tool performs a specific function, such as inspection or some other processing. The input can be an image from a virtual camera or it can be the output of another vision tool.

NOTE:A new workspace doesn't have any tools in it. You add (create) them in the workspace as needed. See Adding Vision Tools on page 239.

Sequences

The output of one vision tool can be used as the input to another. In this way, the order of tool execution is implicitly defined. You can add a Sequence object to the workspace, to help you see the order in which tools will be executed. See AdeptSight Sequence on page 181.

User Interface

The Workspace Explorer and the Vision Window are the primary user interfaces to the AdeptSight software.They are both launched from the main AdeptSight window.

Workspace Explorer

The Workspace Explorer Window

The Workspace Explorer provides an interface for displaying information and allowing you to make changes to Device and Tool configurations.

The left side of the Workspace Explorer is the Tree structure. This allows you to select or add objects. The remainder of the window is referred to as the Object Editor for the active object. A tab at the top of the Workspace Explorer indicates which tool or device is active.

For vision tools, the Workspace Explorer typically shows a Display window, a Grid of Results, and a Configuration window. Refer to the previous figure.

Display Window

The Display window generally shows the image being processed, locations of found instances on that image, as well as the time of execution, at the bottom of the window.

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Grid of Results

The Display window for an individual tool shows you the results for the tool being edited and also allows you to edit the region of interest for the tool.

Note that, while the Display window shows the image and results from the tool's latest iteration, the Vision Window is the "runtime display" for the image, and shows cumulative graphic results of tools executed on it. For more details, see the topic The Vision Window on page 28.

Grid of Results

The Grid of Results displays the values for all the results you have selected to be displayed for the tool.

Clicking the Results Columns icon displays the window shown in the following figure:

Results Columns Window

The left and right arrows in this window let you select which results will be displayed in the Grid of Results.

The widths of the columns can be automatically adjusted with the Adjust Column Widths icon, or you can manually size them with the mouse.

Configuration Window

The Configuration window allows you to modify the behavior of the tool. It typically contains sections for Properties, Advanced Properties, Region of Interest, and Tool Links.

NOTE:Not all tools will have all of these sections.

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The Vision Window

The Vision Window shows the cumulative results of vision operations executed on the vision buffer. The Vision Window:

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Virtual Cameras

l Displays the images from virtual cameras

l Displays results of image processing tools

l Provides access to images (stored in buffers and represented as tabs in the Vision Win-

dow)

NOTE: The Vision Window is displayed from the Workspace Explorer by selecting View > Vision Window or by clicking the Vision icon (a camera) in the tool bar at

the top of the Workspace Explorer screen.

Virtual Cameras

A virtual camera is used to represent the output of a physical camera or an emulated camera (stored image).

l The virtual camera lets AdeptSight software process all images, regardless of their

source, using the same interface.

l The AdeptSight software allows multiple simultaneous virtual cameras.

l Each virtual camera has its own setup and calibration.

Images

Images can be the output of a virtual camera (a photograph taken by a physical camera, or a stored image), or the output of a vision tool. For instance, the Image Processing and Color Matching tools output an image, which can be selected as the input to another vision tool.

Each image is stored in a buffer, represented by a tab in the Vision Window, and selectable from the Vision Window.

When vision tools run, they are executed on the selected image.

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Tabs in the Vision Window

Tabs in the Vision Window - the selected tab determines the image displayed

Tabs are used to represent and access items in the Vision Window, as follows:

l Each virtual camera is represented by a tab in the Vision Window and the Workspace

Explorer.

l Each active vision tool that outputs an image will have a tab in the Vision Window to

display its results (the Image Processing and Color Matching tools output an image).

l The results of the selected vision tool will be displayed in the Vision Window.

3D Visualization Window

NOTE: This feature operates differently in emulation mode. For details on emulation

mode, see Emulation Mode in the Adept ACEUser's Guide.

NOTE: The 3D Visualization feature requires hardware that supports DirectX 9.0c, or later, and 3D graphics.

The Adept ACE software incorporates Adept’s "3D Visualization" technology, which automatically creates a 3D visualization (simulation) of your system. For example, when you first connect to the Adept SmartController, the robot automatically appears in the 3D

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