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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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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3D Visualization Window

Visualization window. If you add a gripper to your robot, the tool offset is added to the 3D display. If you add other objects to the Workspace Explorer and then teach the locations of the objects, they automatically move to the correct locations in the 3D display. You can even see representations of your move locations in the 3D Visualization window.

Refer to the Adept ACEUser's Guide for details on the 3D Visualization Window.

Workspace Explorer

The Workspace Explorer is the main work area for the AdeptSight software. You can use it to add and delete objects, access an object editor, access configuration utilities, and access program editors.

The Workspace Explorer displays the workspace objects in a tree structure on the left side of the display, and editors for those objects on the right side of the display. Objects include cameras, virtual cameras, robots, controllers, grippers, sequence objects, calibration objects (belt or camera), and vision tools. Refer to the following figure.

Workspace Explorer Window

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Toolbars

The AdeptSight toolbars provide quick access to frequently-used items (see the following figures). The toolbar icons will be shown (or hidden) based on the licenses available on the USB hardware key.

Toolbar - General

Toolbar - Connections

Toolbar - Task Status Control

The toolbars can be displayed (or hidden) by selecting View > Toolbars and then selecting the toolbar(s) you wish to view.

Toolbars Menu

The toolbar items are described below.

NOTE:If a toolbar item is not available, its icon will be dimmed (shown as a gray image).

Toolbar - General

Item Description

Saves the current workspace in the default file (the last file loaded or selected in the "Save As" dialog box). Refer to the AdeptSight User's Guide for details.

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Toolbars

Item Description

Finds text in any of the following objects:

l UI Builder C# code l C# Program l C# Custom Allocation Script l C# Custom Vision Tool l V+ module program collection l V+ global variable collection l Notes

Opens the Edit OPC window.

Opens the Workspace Explorer window. Refer to the AdeptSight User's Guide for details.

Opens the Task Status Control. Refer to the AdeptSight User's Guide for details.

(3D available)

(3D not available)

Toolbar - Connections

Item Description

Opens the 3D Visualization window. Refer to the AdeptSight User's Guide for details.

Opens the Watch Variable Tool. Refer to the AdeptSight User's Guide for details.

Opens the AdeptSight Vision window. See the User Interface on page 26 for details.

Displays any system configuration error messages.

Opens the Robot Jog Control. See the topic Robot and Teach Controls in the AdeptSight User Guide for details.

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Toolbars

Item Description

Displays the currently-selected controller. A list of available controllers can be viewed by clicking the down arrow ( ).

(not connected)

(connected)

Connects (initiates communication) to the selected controller. When connected, click to disconnect (stop communication) from the selected controller. A progress indicator displays the status of the operation:

Connecting Progress Indicator

You can connect/disconnect from ALLcontrollers in the system by selecting the "All" option.

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Toolbars

Item Description

(not enabled)

(enabled, not cal-

ibrated)

(enabled, calibrated)

DANGER:The robot may move during the enable power/calibration procedure. Make certain that the work cell is clear of all personnel and obstacles so that the robot does not cause death/injury or damage when moving.

Enables high power to the controller/robot and indicates the calibration state of the robot.

NOTE:For most systems, after the icon is clicked, you are required to press and release the High Power button (a physical button located on the external front panel) within 10 seconds. If this is not done in the required time, High Power is not enabled and an error message is displayed.

See your Adept robot user's guide for more details on enabling high power.

A progress indicator displays the status of the operation:

Enable/Disable Power Progress Indicator

After enabling high power, the system will automatically calibrate the robot, if needed.

When enabled, click to disable high power to the controller/robot (icon turns red).

You can enable/disable high power to ALLcontrollers/robots in the system by selecting the "All" option.

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Item Description

Toolbar - Task Status Control

Toolbars

Displays the current monitor speed. To change the monitor speed, select it from the drop-down list, or type the desired value into the field, and press Enter.

Opens the Monitor windows. Refer to the AdeptSight User's Guide for details.

Opens the Controller Development Tools windows. Refer to the AdeptSight User's Guide for details.

Opens the Digital I/O control. Refer to the AdeptSight User's Guide for details.

Opens the File Explorer Manager, which is used to view files/folders on the controller.

NOTE:This toolbar provides quick access to specific Task Status controls. This includes Process Managers, C# Programs, and AdeptSight Sequences. For additional controls, status messages, and other task control features, use the Task Status Control. Refer to the AdeptSight User's Guide for details.

Item Description

Displays the currently-selected task. A list of available processes can be viewed by clicking the down arrow ( ). Refer to the AdeptSight User's Guide for details.

Starts (executes) the selected task.

Enabled during execution, pauses or exceptions, this button causes the execution to stop for the selected task.

Item Description

Displays the currently-selected process. A list of available processes can be viewed by clicking the down arrow ( ).

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Shortcut Menus

Right-clicking on an object in the Tree structure of the Workspace Explorer opens a shortcut menu, as shown in the following example.

Example Object Shortcut Menus

Right-clicking on an empty area in the Tree structure opens an abbreviated short-cut menu, with just those items that don't operate on a specific file.

The shortcut menu items will vary, depending on the object that is selected. The following is a description of the shortcut menu items:

Item Description

New… Adds new objects.

New Folder Creates a new folder under the current folder.

Delete Deletes the selected object or folder.

Rename Renames the selected object or folder.

Copy Copies the selected object or folder to the clipboard as XML

data.

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Shortcut Menus

Item Description

Duplicate Creates a copy of the selected object in its current folder. A

number appended to the end of the name for the duplicated object.

Links to Other Objects Shows all references to the specified object or folder in the

workspace.

Paste Pastes an object or folder from the clipboard. A number

appended to the end of the name for the pasted object.

Save To File Saves the selected folder or object to a file. You can save

the file in ZIP or AWP format.

Load From File Loads a folder or object from a file. You can load a file that

has been saved in ZIP or AWP format.

Refresh Refreshes the display of the selected object or folder. The

F5 key also refreshes the selected object or folder.

Tree Structure Toolbar Icons

The Tree structure of the Workspace Explorer contains a set of toolbar icons, which are used for managing the objects and folders.

Tree Structure Toolbar

NOTE:In addition to the Tree structure toolbar, the Workspace Explorer also contains a main toolbar. Refer to the AdeptSight User's Guide for details.

The following is a description of the toolbar items.

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Shortcut Menus

Icon Description

Opens the Create a New Object dialog, which is used to add a new object to the workspace. For more details on adding new objects to the workspace, refer to the AdeptSight User's Guide.

Adds a new folder to the workspace.

Deletes the selected item.

Copies the selected item.

Pastes the previously-copied item.

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Object Editors

Icon Description

Opens the Links to Other Objects window, which displays the Incoming and Outgoing linked objects for the selected object. You can double-click any link to open the corresponding editor for the linked object. For more details on editing objects, refer to the AdeptSight User's Guide.

Refreshes (updates) the list of items in the Tree structure of the Workspace Explorer. The F5 key also refreshes the selected object or folder.

Object Editors

Double-click an object in the Tree Structure of the Workspace Explorer to open its editor.

NOTE:Objects can be dragged and dropped from the Tree structure into other active windows.

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Object Editors

Workspace Explorer with Arc Finder Editor

Most object editors include one or more of the following items:

Item Description

Editor name Displays the name and path of the current editor, as a

tab

Menu Menu contents will vary, depending on which editor is

open

Display window Graphic display of the image results, as well as

elapsed/execution time for the tool

Grid of Results Non-graphical results of the tool

Configuration window Used to select and enter values for each item. For most

editors, items are grouped; a group can be expanded or collapsed using the '+' or '-' symbol next to the group heading

Online help Provides help for the selected editor item

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Dockable Editor Windows

Object editors for vision tools usually have a Display window (not the same as the Vision Window), a Results window, and a Configuration Window. Refer to the previous figure.

Dockable Editor Windows

The AdeptSight workspace is designed so you can position (dock) multiple editor windows within the same workspace, as shown in the following figure. This feature allows you to customize the editing environment for your application.

Multiple Windows

To dock multiple editor windows in the workspace:

1. Open the object editors you wish to use. The object editors are shown in a "stacked" configuration. The tabs at the top of the window allow you to select the editor you wish to view.

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Dockable Editor Windows

Editor Window Tabs

2. Click and hold the tab at the top of the editor window to select it.

3. Drag the tab into the workspace. Window position locators are displayed that you can use to position the selected editor within the workspace window.

Window Position Locators

4. Drop the tab onto the desired position locator and release. The editor window is repositioned in the workspace window.

5. Repeat these steps until all editor windows are positioned as desired.

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Editor Window Management

When working with multiple editor windows, you can right-click on any object editor tab to display a menu containing window-management functions. The following figure shows a menu along with a description of each function.

Closes the selected object editor

Close All

Closes all object editors that are currently open

Close All But This

Closes all object editors that are currently open except the selected editor

Prominent

Resizes the selected object editor to fill the current window

Rebalance

Resizes the object editors within a tab group, so that all the editors are the same size. Resizes the tab groups within the Workspace Explorer, so that all tab groups are the same size.

New Horizontal Tab Group

Splits the current tab group horizontally, and moves the selected tab to the new tab group

New Vertical Tab Group

Splits the current tab group vertically, and moves the selected tab to the new tab group

Move to Next/Previous Tab Group

Moves the selected tab to the next or previous tab group. If the current tab group has only one tab, this collapses that tab group.

Move to View

When multiple View tabs are available, you can use this menu item to move the selected tab into a different View tab. For more details on using

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Editor Window Management

View tabs, see View Tabs on page 46.

Move to New View

Creates a new view tab and then moves the selected object editor to that tab. For more details on using View tabs, see View Tabs on page 46.

View Tabs

In addition to the editor management features described in the previous section, the AdeptSight software includes a "View tab" feature that allows you to assign objects to tabs in the object editor pane of the Workspace Explorer window.

Creating a New View Tab

When you first open the AdeptSight software, there is one View tab displayed, which is followed by three dots (...), as shown in the following figure.

Default View Tab

To create a new tab, simply click the three dots (...) and a new tab is added, as shown in the following figure.

Multiple View Tabs

After a tab is created, you can double-click an object in the Tree structure to open it in the selected tab. You can have multiple objects open in a tab.

Renaming a View Tab

To rename a tab, double-click on the tab you wish to rename. The Edit View Name dialog opens.

Edit View Name Dialog

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Editor Window Management

Type the new name and then click OK. The dialog closes and the new name is assigned to the tab.

Closing a View Tab

To close a tab, select the tab and then click the X icon in the bottom right-hand corner. The selected tab closes.

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Calibration Overview

The AdeptSight software provides three types of calibration. The calibrations must be performed in the following order:

l Basic camera calibration

l AdeptSight Belt Calibration Wizard - only needed if you will be using a conveyor belt in

the system

l AdeptSight Camera Calibration Wizard

l AdeptSight Latch Calibration Wizard

Basic Camera Calibration

This makes the system aware of the relationship between each pixel of the camera and absolute size in the field of view.

See Standalone Camera Calibration on page 207 .

AdeptSight Belt Calibration

This calibrates a conveyor belt to a robot.

See AdeptSight Belt Calibration on page 55.

AdeptSight Camera Calibration

This calibrates a camera to a robot, making the system aware of the location of the field of view with respect to the robot.

See AdeptSight Camera Calibration on page 73.

AdeptSight Latch Calibration

This calibrates a latch to a robot.

See Latch Calibration.

Special Tools Overview

AdeptSight software provides several tools for special applications.

Sequence

The Sequence object shows the list of tools that will be executed as part of the sequence and the order in which they will be executed. It also maps a V+ sequence number to the “toplevel” vision tool. "Top-level" means the last tool executed. This enables you to access an AdeptSight sequence with the sequence_id parameter from a V+ program instruction or function. See AdeptSight Sequence on page 181.

OverlapTool

The Overlap Tool ensures that the AdeptSight system does not try to handle the same part twice. This is generally placed before another tool, to be sure that the second tool processes each part only one time. See Overlap Tool on page 193Overlap Tool on page 193.

Communication Tool

The Communication Tool determines how parts are distributed between the controller and the next vision tool in the sequence. This gives you the ability to decide how to respond when there are too many parts for a single robot to process. See Communication Tool on page 183 and Configuring Communication Tool Properties on page 189.

Safety Conventions and Getting Help

Three levels of safety notation are used in this manual. In descending order of importance, they are:

WARNING: If the actions indicated in a warning are not complied with, injury or major equipment damage could result. A warning typically describes the potential hazard, its possible effect, and the measures that must be taken to reduce the hazard.

CAUTION: If the action specified in a caution is not complied with, damage to your equipment or data could result.

NOTE: A note provides additional information, emphasizes or supplements a point or procedure, or gives a tip for easier operation.

How Can I Get Help?

For details on getting assistance with your Adept software or hardware, you can access the following information sources on the Adept corporate website:

l For contact information: http://www.adept.com/contact/americas

l For product pupport information: http://www.adept.com/support/service-and-sup-

port/main

l For user discussions, support, and programming examples:

http://www.adept.com/forum/

l For further information about Adept Technology, Inc.: http://www.adept.com

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software or hardware.

Calibrations

This section covers two basic calibrations:

l Belt-to-robot calibration

l Camera-to-robot calibration

NOTE:The Basic camera calibration should have already been performed. See

Standalone Camera Calibration.

When do I Calibrate?

Calibration needs to be performed once for each different setup. If you make changes to the setup, specifically to the robot, belt, or camera position, parameters, or configuration, then you must recalibrate the new setup.

What Order?

NOTE:All devices being calibrated must be connected and functioning properly.

1. AdeptSight Belt Calibration: This calibrates a conveyor belt to a robot.

It consists of an interview wizard followed by a calibration wizard.

You must run this calibration before the AdeptSight Camera Calibration.

NOTE:AdeptSight Belt Calibration is not needed if there is no conveyor belt in the system.

When the AdeptSight Belt Calibration is completed, a Belt Calibration object is created, which will be needed for the AdeptSight Camera Calibration.

For details, see AdeptSight Belt Calibration on page 55.

2. AdeptSight Camera Calibration: This calibrates a camera to a robot, making the system aware of the location of the camera's field of view with respect to the robot.

It consists of an interview wizard followed by a calibration wizard.

When the AdeptSight Camera Calibration is completed, AdeptSight generates an AdeptSight Camera Calibration object.

For details, see AdeptSight Camera Calibration on page 73.

The calibration interview wizards gather sufficient information about your system to use the correct parameters during their respective calibration wizards.

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Wizard Screens

The AdeptSight Belt Calibration Wizard and AdeptSight Camera Calibration Wizard use similar formats.

A sample calibration wizard screen is illustrated in the following screen shot:

Sample Calibration Interview Wizard Screen

Wizard Name

The title in the blue bar identifies which wizard is executing. It is the context of the screen. In the example, this is "AdeptSight Robot-to-Camera Calibration Wizard".

Task

The heading tells you what you will be doing in this screen: "Camera Mount Type Selection".

Action

The line under the task heading tells you what you must do, or poses the question that this task will answer: "Select the type of camera mount".

Action Details

If needed, details are given in the inner window:"Select the camera mount type".

At the bottom of the Wizard screens you will usually find I/O, Power, Previous, Next, Can- cel, and Help buttons.

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List of Wizard Tasks

The screens in this procedure are:

l Welcome to the Calibration Interview Wizard

Camera Calibration Welcome Screen

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l Robot Selection for Calibration

Select the robot that will be used for this calibration.

1. Click on the browse icon to display a list of available robots.

2. Select the robot that you wish to use.

3. Click OK.

4. Click Next.

l End-Effector Selection for Calibration

NOTE:This will default to the end-effector of the selected robot.

Select the end-effector that will be used for this calibration.

1. Click on the browse icon to display a list of available end-effectors.

2. Select the end-effector that you wish to use.

3. Click OK.

4. Click Next.

l Camera Selection for Calibration

Select the camera that will be used for this calibration.

1. Click on the browse icon to display a list of available cameras.

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2. Select the camera that you wish to use.

3. Click OK.

4. Click Next.

l Choose Interview Mode

Specify either:

Answer questions and let the wizard select the correct scenario (Recommended)

Select the correct calibration options from a list

If you chose to answer the wizard's questions, the following information will be requested:

l Specify Camera Mount Type

l Define the camera link (arm-mount only)

l Will a conveyor be part of this calibration? (fixed-mount only)

NOTE:If you have a belt that hasn't been calibrated, you will not be able to complete this camera calibration.

Answering Yes to this includes the belt in the camera calibration.

l What is the interaction with the calibration object? (fixed-mount only)

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l Specify End-Effector Type

l Is the Robot Free to Move?

Robot can move freely in workspace

NOTE:This will run the calibration in Automated mode.

There are obstacles in the workspace or the work surface is not parallel to the robot XY plane. I want to move the robot manually.

NOTE: This will run the calibration in Manual mode.

l Allow End-Effector Rotation

l Select the Robot-to-Belt Calibration (conveyor belt systems only)

Select the AdeptSight Belt Calibration object, generated when you ran the Belt Calibration Wizard.

NOTE:If you did not run the AdeptSight Belt Calibration before this calibration, there will be no Belt Calibration object, and this interview will fail here if you said that there would be a conveyor belt as part of this calibration.

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If you chose to select the calibration options from a list, you will be presented a screen similar to the following:

Specifying Calibration Options from a List

1. Specify how the camera is mounted.

2. Specify whether a conveyor belt is to be used.

3. Specify if the calibration object is attached to the robot tool, or picked or pointed to.

4. Specify whether the robot can pick an object or point to an object.

5. Specify if there are obstacles within the workspace that must be

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considered.

6. Specify whether the tool should rotate during calibration.

l Interview Completed

There are a number of fields that are not covered in the interview wizard. These are usually left at their defaults, but you can change their values if needed.

Vision Parameters

These parameters specify what vision tools are used in the calibration process.

Calibration Target Size

When using a user-defined vision tool, the size of the target, in mm, must be defined. It is used to calculate how far the robot can move the calibration target in the camera field of view. Default is 50 mm.

Use Vision Tool

When true, the calibration algorithm will use the vision tool specified by the user to locate the calibration target.

Vision Tool

The vision tool used to locate the calibration target in the calibration process.

Properties

Align Z with Tool

A flag indicating whether to align the Z axis to the nominal tool axis. If true, the Z axis of the camera offset will align with the tool axis. If false, the Z axis of the camera offset will be determined by the plane of the taught point cluster.

Keyword Mapping

Describes how the calibration is referenced when using V+ AdeptSight keywords for:BeltCalibrationFrame, BeltCalibrationUpstreamLimit, BeltCalibrationDownstreamLimit, InverseKinematics, ImageOriginRobot, VisionOriginRobot, ImageOriginBelt, VisionOriginBelt.

Camera Index

The camera index is passed through the "toolID" parameter in the V+ AdeptSight keyword. Default is 0.

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Robot Index

The robot index is passed through the "resultIndex" parameter in the V+ AdeptSight keyword. Default is 0.

Read Robot Position Latch

When a picture is taken with this camera, should the latched robot position be used? If false, the current position is used. This parameter is only used for arm- and table-mounted cameras. Default is false.

Rotation Configuration

Describes the range of travel for the robot theta rotation used by the automated calibration wizards. If the starting angle is negative and the ending angle is positive, the gripper will be rotated through the -180/180 degree boundary. If the starting angle is positive and the ending angle is negative, the gripper will be rotated through the 0 degree boundary.

Full range of motion, or Limit Range, From, To, and Number of Points as parameters.

Settling Time

The amount of time, in milliseconds, the robot will wait after completing a motion when performing an automated calibration. Default is 500 ms.

Straight Line Motions

If True, the robot will use straight-line motions in automatic mode.

If False, the robot will use joint-interpolated motions in automatic mode.

You can now run the AdeptSight Camera Calibration Wizard from the Camera Calibration Object window.

AdeptSight Camera Calibration Wizard - Automated, no Belt

This topic covers calibrating an arm- or fixed-mounted camera to a robot, without a conveyor belt.

Requirements

l The robot and camera must be correctly connected and functioning.

l The camera itself must be calibrated. See Standalone Camera Calibration on page

207.

l The AdeptSight Camera Calibration Interview Wizard must have completed suc-

cessfully.

What this Wizard Does

With this wizard you will:

l Teach the picture-taking position, the vision model, and the placement position

l Perform a robot-to-camera calibration

Procedure

From the Camera Calibration Object window, click Calibration Wizard.

The screen titles will all say "Robot-to-Fixed or Arm-Camera Automated Calibration Sequence".

The screens in this procedure are:

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l Select the End-Effector

l Move the Robot to the Picture Position

1. Move the robot out of the way of the camera.

The robot should not be in the camera's field of view.

2. Click Here.

l Teach the Vision Tool

The following figures show the model, origin, and bounding box before and after this procedure has been performed.

Vision Model BeforeTeaching

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Vision ModelAfter Teaching

1. Place the target near the center of the work area.

2. Click Run to take an image.

3. Adjust the model bounding box to fully enclose the model.

Make it close to the perimeter of the model, as shown in the previous figure.

4. Move the origin marker to the center of the model.

l Drag the origin marker to the center of the model with the mouse

l Click Edit, to open the Edit window (shown in the following figure).

Click Center to center the marker on the bounding box

Click on the outline of the model, then click Center to center the marker on the found part

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Edit Window

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l Take a Picture of the Calibration Target

Located Calibration Target

1. Adjust the bounding box to the work area. This must include the calibration target, as shown in the previous figure.

2. If no magenta origin marker is displayed, click Run.

If necessary, move the target so it can be located, then click Run.

3. Click Next.

l Move the Robot to the Pick Position

1. Move the robot to the target.

Click Pendant to display the Pendant window. This enables you to move the robot, so that the end-effector is centered over the target.

2. Click Here.

3. Click Next.

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l Start Automated Calibration

1. Close the Pendant window by clicking Cancel.

2. Click Start.

The robot will perform multiple picks and places, taking an image before each pick. The number of picks and places will vary, depending on the type of calibration being performed. It will usually be 10 or more.

When this step is complete, a Calibration Summary screen will be displayed.

Calibration Summary Screen

This screen shows the amount of XY and Z difference between the calculated calibration points and the actual points used to generate the calibration. The automated calibration obtains more points than are mathematically required for calibration. The calculated calibration represents an average calibration. When AdeptSight uses the calculated calibration to predict where each actual point should be located, the difference between the actual and calculated point is displayed as the error.

Your Calibration Summary may show a different number of points.

After clicking Next, the Task Manager pane displays "Calibration completed successfully".

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You may need to manually release the gripper at the end of this procedure.

Test Procedure

AdeptSight Camera Calibration Wizard - Automated, no Belt

The screens in this procedure are:

l Select End-Effector Tip

This allows you to test a calibration with a different end-effector tip than the one that was used for calibration.

l Move the Robot to the Picture Position

1. Move the robot out of the way of the camera.

The robot should not be in the camera's field of view.

2. Click Here.

l Teach the Vision Tool

The following figures show the model, origin, and bounding box before and after this procedure has been performed.

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Vision Model BeforeTeaching

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Vision ModelAfter Teaching

1. Place the target near the center of the work area.

2. Click Run to take an image.

3. Adjust the model bounding box to fully enclose the model.

Make it close to the perimeter of the model, as shown in the previous figure.

4. Move the origin marker to the center of the model.

l Drag the origin marker to the center of the model with the mouse

l Click Edit, to open the Edit window (shown in the following figure).

Click Center to center the marker on the bounding box

Click on the outline of the model, then click Center to center the marker on the found part

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Edit Window

l Locating the Target

See the figure Located Calibration Target.

1. Adjust the bounding box to the work area. This must include the calibration target.

This will most likely be correctly adjusted from the calibration procedure.

2. If no magenta origin marker is displayed, click Run.

If necessary, move the target so it can be located, then click Run.

3. Click Next. The robot should move to the target.

l Continue testing the calibration

I wish to continue testing

l Move the robot to the location where the picture is taken

l Locating the calibration target

Do not continue testing

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AdeptSight Camera Calibration Wizard - Automated, with Belt

This topic covers calibrating an arm- or fixed-mounted camera to a robot, with a conveyor belt.

Requirements

l The robot, belt, and camera must be correctly connected and functioning.

l The camera itself must be calibrated. See Standalone Camera Calibration on page

207.

l The AdeptSight Belt Calibration Wizard must have completed successfully.

l The AdeptSight Camera Calibration Interview Wizard must have completed suc-

cessfully.

What this Wizard Does

With this wizard you will:

l Teach the picture-taking position, the vision model, and the placement position

l Perform a robot-to-camera calibration

Procedure

From the AdeptSight Camera Calibration Object window, click Calibration Wizard.

The screen titles will all say "Robot-to-Belt Camera Calibration Sequence".

The screens in this procedure are:

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l Select the End-Effector

l Teach the Vision Tool

The following figures show the model, origin, and bounding box before and after this procedure has been performed.

Vision Model BeforeTeaching

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Vision ModelAfter Teaching

1. Place the target near the center of the work area.

2. Click Run to take an image.

3. Adjust the model bounding box to fully enclose the model.

Make it close to the perimeter of the model, as shown in the previous figure.

4. Move the origin marker to the center of the model.

l Drag the origin marker to the center of the model with the mouse

l Click Edit, to open the Edit window (shown in the following figure).

Click Center to center the marker on the bounding box

Click on the outline of the model, then click Center to center the marker on the found part

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Edit Window

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Adept AdeptSight User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

AdeptSight Overview

Compatibility

Documentation Map

AdeptSight

Device

Tool

Related Topics and Manuals

Prerequisites

Hardware

Software

Hardware Installation and Startup

Software Installation and Startup

Related Topics and Manuals

Vision Overview

Vision Devices

Vision Tools

Sequences

Related Topics

User Interface

Workspace Explorer

Display Window

Grid of Results

Configuration Window

The Vision Window

Virtual Cameras

Images

Tabs in the Vision Window

3D Visualization Window

Workspace Explorer

Toolbars

Shortcut Menus

Object Editors

Dockable Editor Windows

Editor Window Management

Calibration Overview

Basic Camera Calibration

AdeptSight Belt Calibration

AdeptSight Camera Calibration

AdeptSight Latch Calibration

Related Topics

Special Tools Overview

Sequence

Communication Tool

Related Topics

Safety Conventions and Getting Help

How Can I Get Help?

Related Topics and Manuals

Calibrations

When do I Calibrate?

What Order?

Wizard Screens

Related Topics

AdeptSight Belt Calibration

Requirements

Next Steps

AdeptSight Belt Calibration Interview Wizard

Procedure

Next Step

Related Topics

AdeptSight Belt Calibration Wizard

Using the AdeptSight Belt Calibration Wizard

Procedure

Testing the Calibration

Related Topics

AdeptSight Camera Calibration

Requirements

Next Step

Related Topics

AdeptSight Camera Calibration Interview Wizard

AdeptSight Camera Calibration Wizard - Automated, no Belt

AdeptSight Camera Calibration Wizard - Automated, with Belt