Omron TMvision Software Manual
Software Manual
TMvision
Original Instructions
I627-E-06
This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM
Robot). The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as
the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without
prior authorization from the Corporation. No information contained herein shall be considered an offer or
commitment. It may be subject to change without notice. This Manual will be reviewed periodically. The
Corporation will not be liable for any error or omission.
logo is registered trademark of TECHMAN ROBOT INC. in Taiwan and other countries and the
company reserves the ownership of this manual and its copy and its copyrights.
Software Manual TMvision Software version:1.82 2
Revision History Table .................................................................................................................................. 9
1. General................................................................................................................................................... 10
Overview ....................................................................................................................................... 10
Warning and Caution Symbols ....................................................................................................... 10
Safety Precautions ........................................................................................................................ 11
Validation and Liability ................................................................................................................... 12
Limitation of Liability ...................................................................................................................... 12
Functional Note Symbols ............................................................................................................... 12
2. Eye-in-Hand ........................................................................................................................................... 13
Overview ....................................................................................................................................... 13
Vision Base System Positioning Mode ........................................................................................... 13
Landmark ................................................................................................................................ 13
Fixed Positioning ..................................................................................................................... 15
Servoing .................................................................................................................................. 16
Object-based Calibration ......................................................................................................... 16
Camera List ................................................................................................................................... 16
Controller ....................................................................................................................................... 16
Camera Kit .................................................................................................................................... 16
Calibrate Workspace ..................................................................................................................... 17
Automatic Calibration .............................................................................................................. 17
Manual Calibration .................................................................................................................. 18
Live Video ...................................................................................................................................... 19
Task Designer ................................................................................................................................ 20
Hard Drive Setting ......................................................................................................................... 20
3. Task Designer ......................................................................................................................................... 22
Overview ....................................................................................................................................... 22
Select Application .......................................................................................................................... 23
Visual Servoing ....................................................................................................................... 24
Fixed Point .............................................................................................................................. 26
AOI-only .................................................................................................................................. 27
Vision IO ................................................................................................................................. 28
Landmark Alignment ............................................................................................................... 29
Object-based Calibration ......................................................................................................... 31
Smart-Pick .............................................................................................................................. 32
Function list ................................................................................................................................... 33
Enhance .................................................................................................................................. 34
Software Manual TMvision Software version:1.82 3
Contrast Enhancement ..................................................................................................... 34
Color Plane Extraction ...................................................................................................... 35
Smoothing ........................................................................................................................ 36
Thresholding ..................................................................................................................... 36
Morphology ....................................................................................................................... 37
Flip ................................................................................................................................... 37
Find ......................................................................................................................................... 38
Flow .................................................................................................................................. 38
Pattern Matching(Shape) .................................................................................................. 38
Pattern Matching (Image) ................................................................................................. 40
Blob Finder ....................................................................................................................... 41
Anchor .............................................................................................................................. 41
Fiducial Mark Matching ..................................................................................................... 42
One Shot Get All ............................................................................................................... 43
External Detection ............................................................................................................ 45
Identify .................................................................................................................................... 48
Barcode / QR Code .......................................................................................................... 48
Color Classifier ................................................................................................................. 49
String Match ..................................................................................................................... 50
External Classification ...................................................................................................... 50
4. TM External Camera ............................................................................................................................... 53
Overview ....................................................................................................................................... 53
Types of Camera Supported .......................................................................................................... 53
External Camera Installation Procedure......................................................................................... 53
Calibrating the External Camera .................................................................................................... 54
ETH Camera Calibration ......................................................................................................... 54
Upward-looking Camera Calibration ........................................................................................ 55
Lens Setting .................................................................................................................................. 56
Focus / Aperture ...................................................................................................................... 56
Eye-to-Hand .................................................................................................................................. 56
Pick'n Place ............................................................................................................................ 57
AOI-only / Vision IO ................................................................................................................. 57
Upward-Looking ............................................................................................................................ 57
Alignment Compensation ........................................................................................................ 58
AOI-only / Vision IO ................................................................................................................. 58
5. TM OCR ................................................................................................................................................. 59
Software Manual TMvision Software version:1.82 4
Overview ....................................................................................................................................... 59
OCR .............................................................................................................................................. 59
Support Content ...................................................................................................................... 59
Parameter Setting Interface .................................................................................................... 60
Set OCR Region ............................................................................................................... 60
Segmentation ................................................................................................................... 60
Character Selection .......................................................................................................... 61
Candidate Characters Menu ............................................................................................. 61
Number OCR ................................................................................................................................. 61
Support Content ...................................................................................................................... 61
Parameter Setting Interface .................................................................................................... 62
Setting Identification Region ............................................................................................. 62
Segmentation ................................................................................................................... 62
Font Selection ................................................................................................................... 63
6. TM Identify & Measure ............................................................................................................................ 64
Identify ........................................................................................................................................... 64
Pose Variation (Shape) ........................................................................................................... 65
Pose Variation (Image) ............................................................................................................ 65
Specific Color Area Size .......................................................................................................... 66
Subtract Reference Image ...................................................................................................... 67
Line Burr ................................................................................................................................. 68
Circle Burr ............................................................................................................................... 69
Measuring ...................................................................................................................................... 70
Counting (Shape) .................................................................................................................... 71
Counting (Image) .................................................................................................................... 72
Counting (Blobs) ..................................................................................................................... 72
Counting (Edges) .................................................................................................................... 73
Gauge ..................................................................................................................................... 74
Anchor .............................................................................................................................. 74
Line .................................................................................................................................. 75
Circle ................................................................................................................................ 76
Shape-based Pattern ........................................................................................................ 77
Image-based Pattern ........................................................................................................ 77
Calipers ................................................................................................................................... 78
Peak-to-Peak Width .......................................................................................................... 78
Software Manual TMvision Software version:1.82 5
Tables
Table 1: Danger, Warning, and Caution Symbols ......................................................................... 11
Table 2: Function Note Symbols ................................................................................................... 12
Table 3: Camera Kit Functions ..................................................................................................... 17
Table 4: Live Video Functions ...................................................................................................... 20
Table 5: Select Applications ......................................................................................................... 23
Table 6: Visual Servoing Settings ................................................................................................. 24
Table 7: Parameters of the Teaching ............................................................................................ 26
Table 8: Fixed Point Settings ........................................................................................................ 27
Table 9: AOI-only Settings ............................................................................................................ 28
Table 10: Vision IO Settings ......................................................................................................... 29
Table 11: The Fixed Settings ........................................................................................................ 31
Table 12: Object-Based Calibration Settings ................................................................................ 32
Table 13: Function List – Enhance ............................................................................................... 34
Table 14: Function List – Enhance (Contrast Enhancement) ........................................................ 35
Table 15: Function List – Enhance (Color Plane Extraction) ......................................................... 35
Table 16: Function List – Enhance (Color Plane Extraction – Color Plane) ................................... 36
Table 17: Function List – Enhance (Smoothing) ........................................................................... 36
Table 18: Function List – Enhance (Thresholding) ........................................................................ 37
Table 19: Function List – Enhance (Morphology) .......................................................................... 37
Table 20: Function List – Enhance (Flip) ...................................................................................... 37
Table 21: Function List – Find ...................................................................................................... 38
Table 22: Function List – Find (Patten Matching (Shape)) ............................................................ 39
Table 23: Function List –Find (Patten Matching (Shape)) ............................................................. 40
Table 24: Function List – Find (Patten Matching (Image)) ............................................................ 40
Table 25: Function List – Find (Blob Finder) ................................................................................. 41
Table 26: Function List – Find (Anchor) ........................................................................................ 42
Table 27: Function List – Find (Fiducial Mark Matching) ............................................................... 42
Table 28: Function List – Identify .................................................................................................. 48
Table 29: Function List – Identify (Supported Barcodes) .............................................................. 49
Table 30: Function List – Identify (Supported QR codes) .............................................................. 49
Table 31: Types of Camera Supported ......................................................................................... 53
Table 32: OCR Supported Fonts .................................................................................................. 59
Table 33: OCR Parameter Settings .............................................................................................. 60
Table 34: OCR Parameter Settings – Segmentation..................................................................... 60
Table 35: Number OCR Supported Fonts ..................................................................................... 61
Software Manual TMvision Software version:1.82 6
Table 36: Number OCR Parameter Settings ................................................................................. 62
Table 37: OCR Parameter Settings – Segmentation..................................................................... 63
Table 38: Identification Functions ................................................................................................. 65
Table 39: Pose Variation (Shape) Functions ................................................................................ 65
Table 40: Pose Variation (Shape) Examples ................................................................................ 65
Table 41: Pose Variation (Image) Functions ................................................................................. 66
Table 42: Pose Variation (Image) Example .................................................................................. 66
Table 43: Specific Color Area Functions ....................................................................................... 67
Table 44: Specific Color Area Size Example ................................................................................ 67
Table 45: Subtract Reference Image Functions ............................................................................ 68
Table 46: Subtract Reference Image Example ............................................................................. 68
Table 47: Line Burr Functions ....................................................................................................... 69
Table 48: Line Burr Example ........................................................................................................ 69
Table 49: Circle Burr Functions .................................................................................................... 69
Figures
Table 50: Measuring Functions .................................................................................................... 71
Table 51: Counting (Shape) Functions ......................................................................................... 71
Table 52: Counting (Shape) Example ........................................................................................... 71
Table 53: Counting (Blobs) Functions ........................................................................................... 72
Table 54: Counting (Blobs) Example ............................................................................................ 73
Table 55: Counting (Edges) Functions ......................................................................................... 73
Table 56: Counting (Edges) Examples ......................................................................................... 73
Table 57: Gauge Functions .......................................................................................................... 74
Table 58: Anchor Functions .......................................................................................................... 75
Table 59: Line Functions .............................................................................................................. 75
Table 60: Circle Functions ............................................................................................................ 77
Table 61: Caliper Functions .......................................................................................................... 78
Table 62: Peak-to-Peak Width Functions ...................................................................................... 78
Figure 1: Landmark ...................................................................................................................... 15
Figure 2: Fixed Positioning ........................................................................................................... 15
Figure 3: Live Video...................................................................................................................... 19
Figure 4: Hard Drive Setting ......................................................................................................... 20
Figure 5: The Flow of Pick and Place ........................................................................................... 22
Figure 6: Save Vision Images Based on Results .......................................................................... 23
Figure 7: Visual Servoing ............................................................................................................. 25
Software Manual TMvision Software version:1.82 7
Figure 8: Fixed Point .................................................................................................................... 27
Figure 9: Vision IO ........................................................................................................................ 29
Figure 10: Landmark Alignment (1/2) ........................................................................................... 30
Figure 11: Landmark Alignment (2/2) ........................................................................................... 30
Figure 12: Object-Based Calibration ............................................................................................. 32
Figure 13: Anchor ......................................................................................................................... 42
Figure 14: One Shot Get All (1/4) ................................................................................................. 43
Figure 15: One Shot Get All (2/4) ................................................................................................. 44
Figure 16: One Shot Get All (3/4) ................................................................................................. 44
Figure 17: One Shot Get All (4/4) ................................................................................................. 45
Figure 18: External Detection (1/2) ............................................................................................... 45
Figure 19: External Detection (2/2) ............................................................................................... 46
Figure 20: Color Classifier ............................................................................................................ 50
Figure 21: String Match ................................................................................................................ 50
Figure 22: External Classification (1/2) ......................................................................................... 51
Figure 23: External Classification (1/2) ......................................................................................... 51
Figure 24: Focus/Aperture ............................................................................................................ 56
Figure 25: Eye-to-Hand ................................................................................................................ 57
Figure 26: Upward-Looking .......................................................................................................... 58
Figure 27: OCR ............................................................................................................................ 59
Figure 28: Number OCR ............................................................................................................... 61
Figure 29: Circle Burr Example ..................................................................................................... 70
Figure 30: Counting (Image) Example .......................................................................................... 72
Figure 31: Gauge Example ........................................................................................................... 74
Figure 32: Anchor Example .......................................................................................................... 75
Figure 33: Line Example (1/2) ...................................................................................................... 76
Figure 34: Line Example (2/2) ...................................................................................................... 76
Figure 35: Circle Example (External) ............................................................................................ 77
Figure 36: Image-based Pattern Example .................................................................................... 78
Figure 37: Caliper (Peak-to-Peak Width) Example ....................................................................... 79
Software Manual TMvision Software version:1.82 8
Revision
Date
Revised Content
Revision History Table
01 October 2018 Original release
02 July 2019 Added 1.72.3500 features
03 October 2019 Minor texts fixed and added Light Intensity. Added 1.76.3300 features
04 April 2020 Added 1.76.6300 features
05 August 2020 Added 1.80 features
06 Feburay 2021 Added 1.82 features
Software Manual TMvision Software version:1.82 9
software version, click at the top right of the screen for the information.
1. General
Overview
TMvision is a combined hardware and software built-in feature of TM Robot. Regarding the hardware:
There is a visual camera module at the end of the TM Robot for users to experience complete visual
software functionalities. The software comes in two functions: Standard and Licensed. The Standard
function supports most robot applications, while the Licensed function consists of separate modules that
may be purchased as needed.
With approvals from a variety of robot vision manufacturers, TMvision comes with functions such as
feature identification, object location, enhance mode, barcode identification as well as color classifier
integrated into TMflow for users to design the robot task step by step.
TM Robot's built-in Vision Designer supports Eye-in-Hand (EIH), Eye-to-Hand (ETH), and
Upward-Looking cameras with balanced high-level integration and multiple supports. The hardware and
software integrated internal Vision Designer does away with the complex vision components of
conventional systems, and saves the time in getting familiar with robots that users may know little about.
For users familiar with robot and machine vision, TMvision comes with a wide range of assistance and
integration tools for users to generate diversified visual robot integration platforms.
This manual begins with the built-in EIH camera to outline the TM exclusive Task Designer system with
the built-in camera. It then describes the external camera's software and hardware integration, and ends
with an introduction of advanced licensed functions.
This manual applies to TMflow Version 1.82. There will be differences between the functions and interfaces of
different software versions. Confirm the software version before using and reading this manual. To confirm the
NOTE:
In this software, the naming rules for custom names and paths are restricted to use: letters
(both uppercase and lowercase letters), digits, and underscore.
Warning and Caution Symbols
The Table below shows the definitions of the warning and caution levels used in our manuals. Pay close
attention to them when reading each paragraph, and observe them to avoid personal injuries or
equipment damage.
Software Manual TMvision Software version:1.82 10
Read Manual Label; Impact Warning Label
Safety Precautions
DANGER:
Identifies an imminently hazardous situation which, if not avoided, is likely to result in serious
injury, and might result in death or severe property damage.
WARNING:
Identifies a potentially hazardous situation which, if not avoided, will result in minor or
moderate injury, and might result in serious injury, death, or significant property damage.
CAUTION:
Identifies a potentially hazardous situation which, if not avoided, might result in minor injury,
moderate injury, or property damage.
Table 1: Danger, Warning, and Caution Symbols
DANGER:
This product can cause serious injury or death, or damage to itself and other equipment, if the
following safety precautions are not observed:
All personnel who install, operate, teach, program, or maintain the system must read the Hardware
installation Manual, Software Manual, and Safety Manual according to the software and hardware
version of this product, and complete a training course for their responsibilities in regard to the
robot.
All personnel who design the robot system must read the Hardware installation Manual, Software
Manual, and Safety Manual according to the software and hardware version of this product, and
must comply with all local and national safety regulations for the location in which the robot is
installed.
The TM Robot must be used for its intended use.
Results of the risk assessment may require the use of additional risk reduction measures.
Power to the robot and its power supply must be locked out and tagged out or have means to
control hazardous energy or implement energy isolation before any maintenance is performed.
Dispose of the product in accordance with the relevant rules and regulations of the country or
area where the product is used.
Software Manual TMvision Software version:1.82 11
system
and prevent major hazards from occurring in the complete system.
Validation and Liability
The information contained herein neither includes how to design, install, and operate a complete robotic
arm system, nor involves the peripherals which may affect the safety of the complete system. The
integrators of the robot should understand the safety laws and regulations in their countries and prevent
hazards from occurring in the complete system.
This includes but is not limited to:
Risk assessment of the whole system
Adding other machines and additional risk reduction measures based on the results of the risk
assessment
Using appropriate software safety features
Ensuring the user will not modify any safety measures
Ensuring all systems are correctly designed and installed
Clearly labeling user instructions
Clearly marked symbols for installation of the robot arm and the integrator contact details
Making accessible relevant documents, including the risk assessment and this Manual
CAUTION:
This product is a partly complete machine. The design and installation of the complete
must comply with the safety standards and regulations in the country of use. The user and
integrators of the robot should understand the safety laws and regulations in their countries
Limitation of Liability
No safety-related information shall be considered a guarantee by the Corporation that a TM Robot will
not cause personnel injury or property damage.
Functional Note Symbols
The following table defines the functional note symbols used in this manual. Read the paragraphs
carefully.
IMPORTANT:
This symbol indicates the relevant functional details to assist programming and use.
NOTE:
This symbol indicates the relevant functional use tips to assist programming efficiency.
Table 2: Function Note Symbols
Software Manual TMvision Software version:1.82 12
Software Manual TMflow.
2. Eye-in-Hand
Overview
The TM Robot's built-in Vision Designer system integrates hands, eyes and brains of conventional
robots into one. This not only enables users to execute high precision jobs but also provides flexibility for
fast line changes. Regarding hardware operation, users can move the robot to right above the object
and press the Vision button on the camera to generate a Vision node in TMflow for subsequent visual
job programming. Refer to the relevant Hardware Installation Manual for the position of the buttons.
TMvision is designed for coordinate adjustment and vision job administration, and users can set
parameters of visual features on lighting and imaging in the Vision node to enhance the speed and
quality of identification. Refer to the following chapters for details and instructions.
NOTE:
Users should check if the connection of User Connected External Safeguard Input for
Human-Machine Safety Setting on the control box is closed before proceeding a conclusive
calibration. For details of User Connected External Safeguard Input for Human-Machine
Safety Setting, refer to Safety Manual, the relevant Hardware Installation Manual, and
Vision Base System Positioning Mode
TM Robot comes with a 2D camera as the built-in vision system that supports the positioning model on
the object-oriented base or the robot alignment-oriented base. For the object-oriented base positioning
model, users must create a workspace and make sure the workspace is parallel to the object. Failure to
do so may result in distorted imaging and visual identification job failures. TMvision offers four
positioning methods: Landmark, fixed-point, visual servoing, and object-based calibration as described
below.
Landmark
Landmark provides a fast, simple and flexible base system positioning method as a reference to
the environment. Capturing Landmark with TM Robot will generate the position information of six
degrees of freedom (including X, Y, Z, RX, RY, RZ) once to build a base system accordingly for
users to record following points and motions. When the robot is repurposed or relocated, when
the relative position of the robot and landmark changed, it's simple - use the robot to take a photo
of Landmark again, to regain 6 DoF of the new location and renew the landmark base system.
The recorded points and motions on the Landmark base system will be converted to the base
system automatically to make the robot move to the same positions as before.
Software Manual TMvision Software version:1.82 13
Landmark is a 0.2 cm thick and 5x5 cm square plastic plate as shown in the figure below. By
capturing and recognizing Landmark's black and white borders and central graphic features
through TM Robot's EIH camera, the robot can create the base system in the center of the
Landmark's black and white border. Note that the accuracy of landmark positioning is not
sufficient for identification and alignment purpose. In principle, Landmark is not designed for
users to have the robot directly go to individual points or execute motions after creating a base
system. Instead, it is an alignment tool to lead the robot toward a valid visual point. Users should
use the TM Robot visual positioning function to identify and locate the object in the last step to get
the best results.
Landmark generates a base system with six degrees of freedom, and the data in the RX, RY, and
Z directions are not easy to obtain accurately with EIH 2D vision (i.e. whether the camera plane is
parallel to the object and how long is the distance between the camera plane and the object).
Landmark can enhance the positioning ability of the 2D vision along these axes. Despite the fact
that Landmark is able to get the data of the X, Y, and RZ direction, chances are users may fail to
place or attach Landmark precisely in the operating environment, it is not recommended to use
the data directly for positioning. Due to the fact that these three degrees of freedom compensate
the positioning of the base data in EIH 2D vision, users should use both methods. As a regular
approach, users should use Landmark to have the robot guide its relative relationship between
the peripherals or the RX, RY, and the Z axes. That is to say, using the positioning of Landmark
on the three axes to ensure the visual points recorded in the Landmark base system after
updating with the landmark base system of the visual point camera posture, are able to return
back to the state of parallel with workpiece features (RX, RY) and to the correct distance to
workpiece features (Z). Users can then use this positioning as the basis for a subsequent 2D
vision job, and use each of the TMvision 2D functions to align the remaining axial directions of X,
Y and RZ. Even if the relative position between base of robot and the Landmark changes, users
can reuse the points and the motions recorded in the landmark base system from the former
project by having the robot shoot the Landmark again.
When planning a project, users may place Landmark in the target task environment to create a
TM Robot vision job and perform subsequent motions with the base system. Shooting the
Landmark again in later operations will have the robot reset to the original base system
automatically, i.e. to change alignment of robot according to site conditions without being confined
to a fixed alignment.
Software Manual TMvision Software version:1.82 14
Landmark base system.
Figure 1: Landmark
NOTE:
The farther away the Landmark is from the camera the less accurate the
alignment will be. The tradeoff is that a bigger field of view tends to capture
changes of relative alignment between the robot and the Landmark. A shorter
distance between the camera and Landmark has the advantage of better
alignment accuracy but at the cost of a smaller field of view and Landmark's
easily falling outside the file of view. Users are advised to edit two vision jobs:
one nearer and the other farther, when using Landmark. The farther one is
aimed to quickly detect the Landmark in a workspace to create the first base
system. Then, pull the robot close while orienting the RX, RY, and RZ angles of
the second visual points (set these axes in the original base system orthogonal)
to zero and keep them as close as possible, e.g. camera and Landmark 10cm
apart from each other. Shoot the same Landmark to get a more accurate
Fixed Positioning
The fixed positioning function is designed with a pre-set object placement area and pre-set height
for vision jobs. Users can create a workspace with the TM calibration plate. When using the TM
calibration plate for fixed-point alignment, the relative height of the camera and the work plane is
also defined. When using fixed-point alignment to establish a workspace, users must ensure that
the absolute height of camera and object is equal to the workspace created by the TM calibration
plate.
Software Manual TMvision Software version:1.82 15
Figure 2: Fixed Positioning
Name
Function
change made after adjustment jobs ended.
adjustment.
Servoing
The servoing function is for users to define the object features. In each servoing process,
TMvision automatically sets the robot position based on the defined object to return the relative
position of the camera and object.
Object-based Calibration
The principle of object-based calibration is basically teaching as servoing and ending as
fixed-point positioning. First, run the tilt correction with the calibration plate to define the visual
servoing workspace with the actual workpiece and convert to the fixed point positioning with
calculations. Since the servo calibration is used only when defining the workspace for the first
time, the robot will place the workpiece at the four corners of the camera’s field of view to create
the workspace with four movements and make the fixed-point positioning calculation with the
workspace accordingly. This takes advantage of the fixed positioning's speed for positioning and
the servoing without the calibration plate. For the object calibration, the features of the object
should not be too big to fit in the field of view during the servo calibration.
Camera List
The list of cameras on the left side of TMvision shows the cameras in use and their status. Right-click
any listed camera to pop up a window that lets users refresh the list of cameras or detect an external
camera.
Controller
To help users control the robot movements, TMvision provides the controller interface for users to move
the robot to the appropriate positions and edit vision jobs.
Camera Kit
The camera kit is used to adjust camera imaging, including the following settings:
Camera Parameter
Setting
Focus / Aperture To assist adjusting focus and aperture of an external camera. It provides visual tools for
Software Manual TMvision Software version:1.82 16
Includes shutter and focus for the built-in camera and contrast and white balance for
extracted images. All modules feature auto once function. Click Save to validate
easy regulation. Users may read the scores of the current focus and aperture on the
left, which vary with change in focus and aperture with the external camera. The
calibration ends when the scores hit the Max line and stop rising even after more
lower slides being farthest away from each other).
its current position.
3. Previous vision jobs built with 1.2M pixels will retain previous settings.
geometry does not allow for a calibration plate, users may replace the
Brightness Setting Includes illuminance visualization tool to enable users adjusting lighting tools for
optimized illumination distribution. The left side controls sensitivity of the visualization
tool. The two track bars in the settings indicate the upper and lower limits of the
visualization display. The brightness over the upper and lower limits are defaulted to
their limits for display. If the illuminance in the field of view is uniform, colors shown by
visualization tools may be close to each other in case of high sensitivity (upper and
Tilt-Correction Secure Landmark or calibration plate to the target plane as a calibration tool to enable
the robot's automatic adjustment to the tilt angle and vertical alignment of the camera
to target plane. Adjust camera parameter settings to ensure Landmark or the
calibration plate is detectable before running tilt-correction. Keep adequate clearance
around the robot, as in an automatic tilt-correction process the robot will move around
Table 3: Camera Kit Functions
NOTE:
1. The default resolution of the camera is 5M pixels, and so is the production
calibration. 5M pixels positioning is supported in Fixed Point and
Landmark.
2. If the robot came with TMflow 1.68 out of the box, once upgraded to
TMflow 1.72 or later, the default 5MP camera setting won't take effect.
Please contact service team to conduct 5MP calibration procedures to
enable this functionality.
Calibrate Workspace
Workspace calibration includes automatic and manual calibration to help users create workspaces for
fixed-point vision jobs. Workspace calibration will generate the information of the workspace as well as
the VPoint. Refer to Expression Editor and Listen Node for details of VPoint.
Automatic Calibration
The automatic workspace calibration goes with four steps:
1. Tilt-Correction
2. Confirm Workspace
3. Calibrate Workspace
4. Save Results
NOTE:
Before starting calibration: Position the identification target in the center of
the field of view using the controller or manual handle. Place the camera
10 to 30 cm above the target. Determine the plane where the feature is
located before placing the calibration plate on the plane. If the workpiece
Software Manual TMvision Software version:1.82 17
tilt-correction while calibrating a workspace with eye-in-hand.
Step 1.
Tilt-Correction:
perpendicular to the camera parallel to the camera’s focal plane.
Step 2.
Confirm Workspace:
VPoint.
Step 3.
Calibrate Workspace:
the robot.
Step 4.
Save Results:
file to access it in fixed vision jobs.
plane where the feature is located before placing the calibration plate on
workspace with an object of the proper height to place the calibration plate
at the same height as the identification feature.
Click Yes when the message to skip tilt-correction prompts to bypass
IMPORTANT:
Keep adequate clearance around the robot as in an automatic calibration
process the robot will move around the initial position.
Once set up, do not touch the calibration plate before starting the calibration process.
Correct tilt before workspace calibration to ensure the calibration plate is
Visually check tilt-correction. Click the icon in the flow chart to calibrate tilt again if
necessary. The position of the robot, at the start of the calibration process, is called
the initial position of the robot in this workspace. This process also defines the
Click Start to have the robot take pictures of the calibration plate with multiple angles
to calculate the relative position of the workspace created by the calibration plate to
Once the accuracy has been validated, save the calibration results in a workspace
Manual Calibration
The manual workspace calibration goes with four steps:
1. Confirm Workspace
2. Set TCP Setting
3. Calibrate Workspace
4. Save Results
NOTE:
Before starting calibration: Mount the required calibration tool on the robot
tool flange. Techman Robot recommends using the calibration pin set
Software Manual TMvision Software version:1.82 18
provided by Techman Robot as the calibration tool. Using TMflow (TCP
Setting), set the Z height of the calibration tool. Position the identification
target in the center of the field of view using the controller or manual
handle. Place the camera 10 to 30 cm above the target; determine the
bypass tilt-correction while calibrating workspace with eye-in-hand.
Step 1.
The robot must be positioned at the initial position of the robot in this workspace.
Step 2.
Set the Z height, using TMflow (TCP Offset), for the calibration tool being used.
Step 3.
controller to manipulate the robot when performing this calibration.
Step 4.
workspace file to access it in fixed vision jobs.
Functions
Suitable for hand-eye relationship
changing the scope of extraction by the camera.
Text tool
Set the color, the offset, the size, the style, the prefix and the suffix of
the plane. If the workpiece geometry does not allow for a calibration plate,
users can replace the workspace with an object of the proper height to
place the calibration plate at the same height as the identification feature.
Simply click Yes when the message to skip tilt-correction prompts to
IMPORTANT:
Once set up, do not move the calibration plate until the completion of the
calibration process.
Confirm Workspace:
Set TCP Setting:
Calibrate workspace: Point the calibration tool to the calibration plate grid shown on
the screen. When being prompted. Click Next. Repeat this step five times. Use the
Save Results: Once the accuracy has been validated, save the calibration results in a
Live Video
Live Video provides a live camera image with functions at the bottom (from left to right): zoom out,
display ratio, zoom in, text tool, play, play once, pause, and grid
Figure 3: Live Video
Zoom out
Zoom in
Software Manual TMvision Software version:1.82 19
The Eye-in-hand / eye-to-hand function is designed to change display
ratio of the camera. This zooms in and out image displayed without
the text and the objects on the screen.
when pressing the extract button.
Grid
Turn on grid at the center of the live video to help composition.
Play
Play Once
Pause
Set up extract mode (default = continuous extract) for users
convenience to capture current image shown on camera; pause extract:
to freeze image and stop capturing; extract once: to get current image
Table 4: Live Video Functions
NOTE:
Users can move the mouse cursor anywhere on the screen to view the
coordinates and the RGB values of the pixel in the live video.
Task Designer
TMvision provides users with a means of editing visual work, see Chapter 3 Task Designer for details.
Hard Drive Setting
Hard Drive setting provides users with the ability to manage photo storage space and requires the
TM SSD (sold separately) to save source images or result images for analysis. Images can be saved in
png, jpg, or bmp. The Source Image is saved as png by default, the Result Image as jpg. The pie
chart in the bottom left displays used space, available space, and reserved space. Users may check
from Do not save data or Delete from the oldest data in Stop status handling. Click Select Path to
assign the path to store files, and drag the slider to configure the size reserved for the free space. Also,
users may check Show warning message only or Stop robot for the Action when saving images to
SSD fails. Show warning message only will display the warning message in the log of TMflow while
Stop robot makes the robot stops for the saving error.
Figure 4: Hard Drive Setting
Software Manual TMvision Software version:1.82 20
NOTE:
It is favored to set the SSD reserved free space to 30% of the SSD total storage
space.
Software Manual TMvision Software version:1.82 21
3. Task Designer
Overview
TMvision contains the following task designer functions: Visual Servoing, Fixed Point, AOI-only, Vision
IO, Landmark Alignment, Object-based Calibration, and Smart-Pick. Users can select the required
applications according to their needs and execute jobs with diversified visual algorithm.
In addition to Vision IO and AOI-only identification, other applications can use the Find function to
position the base system to establish the relationship between the robot motion and the visual
components. As shown in the figure below, record point P1 on vision base system 2 and create relative
relationship with the object to access object visually.
Figure 5: The Flow of Pick and Place
IMPORTANT:
When using a vision base system, select the current base system shown at the
top right of TMflow as the vision base system.
NOTE:
In case of invalid selection, re-record the base system with the "Re-record on
another base “ in the Point Manager.
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relationship
Eye-to-Hand
✓
object position
the robot position
Eye-to-Hand
Eye-to-Hand
Alignment
Landmark position
Calibration
object position
Smart-Pick
Eye-in-Hand
Select Application
Select the TMvision Task Designer in the work list and choose appropriate application according to
intended use. Basic categories are as follows:
Applications
Fixed Eye-in-Hand /
Servoing
AOI-only Eye-in-Hand /
Vision IO Eye-in-Hand /
Landmark
Object-based
Suitable for hand-eye
Eye-in-Hand
Eye-in-Hand
Eye-in-Hand × Create base system based on
Workspace Base system output
Create base system based on
× Create base system based on
× ×
× ×
×
Create base system based on
Table 5: Select Applications
Users can save vision images by setting criteria based on the results of object detections, recognitions,
and measurements. Images available to save include the original image (source image) and the last
image taken (result image).
Figure 6: Save Vision Images Based on Results
Software Manual TMvision Software version:1.82 23
Name
Function
Click Save to validate changes made.
image
at the current position.
Lighting
Control light source switch at end of the robot.
Light Intensity*
Use the slider to set the brightness level
position
position
Stabilization
self-adjust before taking pictures.
NOTE:
The name of the selected application will be put above the flow at the left as a
label.
Visual Servoing
Enter the TMvision Task Designer window and select Visual Servo to use this function. Visual
servoing is only suitable for eye-in-hand. Alignment is achieved by getting continuously closer to
the object's target coordinate on the image. The workspace does not need to be established. If
the target angle has wide variations, use a calibration board to conduct level calibration during the
initial alignment. The servoing time is determined by region of convergence and the robot
movement path. This can be applied to situations where the relationship between the camera,
workspace, and the robot can easily change due to changes in human action and the
environment. After the level is calibrated, select INITIATE on the left side of the Flow to make
basic parameter settings. Setting parameters are as follows:
Adjust camera
parameters
Switch to record
Start at initial
position
Move to the initial
Reset initial
Idle for Robot
*Available for HW 3.0 models or newer.
Includes shutter and focus for the built-in camera and contrast and white
balance for extracted images. All modules feature an auto once function.
Use the internal TM SSD images for identification.
Check this to return the robot to its initial position before visual
identification. Uncheck this and the robot will execute visual identification
Move the robot to the initial position
Reset initial position of the robot
Set the length of time manually or automatically to have the robot
After the basic parameters have been set, confirm that the image is clear and can be seen. Select
the Find function at the top and use the pattern matching function to match the pattern's shape
feature in the selected frame.
Once the matching patterns have been determined, TMvision will compare the image in the
Software Manual TMvision Software version:1.82 24
Table 6: Visual Servoing Settings
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