Adept AdeptSight User Guide Manual de usuario Pagina 21
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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 oper-
ators, robots and other motion devices can severely injure per-
sonnel 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 hier-
archy 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.
Prerequisites
AdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012
Page 21
- Copyright Notice 3
- Table Of Contents 5
- Calibrations 51 6
- AdeptSight Special Tools 179 6
- Vision Devices 201 7
- Vision Tools 229 7
- Color Matching 10
- Custom Vision Tool 10
- Edge Locator 10
- Gripper Clearance Tool 10
- Image Sharpness 11
- Image Histogram 11
- Image Processing 11
- Image Sampling 11
- Inspection 12
- Line Finder 12
- Locator Model 12
- Pattern Locator 12
- Application Samples 537 13
- Vision Basics 629 13
- Vision Basics - Resolution 14
- Vision Basics - Mode 14
- AdeptSight Overview 15
- Documentation Map 16
- AdeptSight 16
- Related Topics and Manuals 20
- Prerequisites 21
- Vision Overview 24
- Sequences 25
- User Interface 26
- Configuration Window 27
- The Vision Window 28
- Virtual Cameras 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
- Creating a New View Tab 46
- Renaming a View Tab 46
- Closing a View Tab 47
- Calibration Overview 48
- Special Tools Overview 49
- How Can I Get Help? 50
- Calibrations 51
- Wizard Screens 52
- AdeptSight Belt Calibration 55
- Next Steps 57
- Procedure 59
- Setting the Camera Properties 62
- Launch Grid Calibration 62
- Next Step 64
- Testing the Calibration 70
- AdeptSight Camera Calibration 73
- Robot Index 82
- Read Robot Position Latch 82
- Rotation Configuration 82
- Settling Time 82
- Straight Line Motions 82
- Edit Window 100
- Page 100 100
- Vision Model BeforeTeaching 111
- Page 111 111
- Page 113 113
- Page 124 124
- Page 137 137
- Page 144 144
- Page 148 148
- Page 155 155
- Page 162 162
- Vision Model Before Teaching 173
- Page 173 173
- Page 175 175
- AdeptSight Special Tools 179
- AdeptSight Sequence 181
- Configuration 182
- Communication Tool 183
- How It Works 184
- Multiple Communication Tools 185
- Properties 186
- Related Topics 187
- Queue Index (0 - 100) 190
- Queue Size (1 - 100) 191
- Queue Update 191
- Use Soft Signal 191
- Soft Signal (0 - 2512) 191
- Overlap Tool 193
- Gripper Offset 197
- Gripper Offset Table 199
- Vision Devices 201
- Page 202 202
- Adding a Camera 203
- Standalone Camera Calibration 207
- Calibration with Fixed-Pixels 212
- Creating a Dot Target 213
- Adding an Emulation Device 215
- Adding a Virtual Camera 221
- Camera Properties 223
- Video Format 224
- Vision Tools 229
- Image Processing Tools 230
- Inspection Tools 230
- Filter Tools 231
- Calculation Tools 232
- Other Tools 232
- Vision Tools Summary Table 235
- Adding Vision Tools 239
- Arc Caliper 241
- Edge Pair Collection Editor 244
- Polarity 248
- Edge Score Constraints 248
- Tool Sampling 253
- Arc Caliper Results 257
- Grid of Results 257
- Arc Edge Locator 259
- Page 260 260
- Edge Constraint Editor 262
- Magnitude Threshold 264
- Edge Score 265
- Magnitude Constraint 266
- Position Constraint 267
- Score Threshold 268
- Sort Results 268
- Tool Sampling Parameters 271
- Arc Edge Locator Results 273
- Display Window 273
- Arc Finder 277
- Advanced Properties 287
- Arc Finder Results 291
- Blob Analyzer 293
- Thresholding 294
- Histogram 294
- Segmentation Parameters 299
- Dark Segmentation 300
- Light Segmentation 301
- Inside Segmentation 301
- Outside Segmentation 301
- Dynamic Dark 301
- Dynamic Light 302
- Dynamic Inside 302
- Dynamic Outside 302
- HSL Inside 303
- HSL Outside 303
- Hard Threshold Functions 304
- Soft Threshold Functions 304
- Dynamic Threshold Functions 305
- Blob Selection and Display 306
- Blob Analyzer Results 313
- General Results 314
- Perimeter Results 315
- Intrinsic Inertia Results 316
- Extrinsic Inertia Results 317
- Grey-Level Results 323
- Topological Results 324
- Calculated Arc 325
- Calculated Frame 329
- Page 330 330
- Calculated Line 333
- Calculated Line Object Editor 334
- Page 334 334
- Calculated Point 337
- Page 338 338
- Calibration Grid Locator 341
- Edge Detection Parameters 357
- Color Matching Object Editor 360
- Page 360 360
- Creating a Filter 361
- Output As Grayscale Image 366
- Color Values 370
- Saturation - S 371
- Luminance - L 371
- Color Tolerances 372
- Additional Menus 379
- Inspection Configuration 393
- Thresholds 394
- Custom Menu 395
- Tool Links 396
- Results Logging 397
- Gripper Clearance Results 399
- Image Histogram Object Editor 402
- Page 402 402
- Image Histogram Results 411
- Custom Editor 416
- Operand Image 418
- Modes of Operation 419
- Arithmetic Operations 424
- Normal Clipping Mode 425
- Absolute Clipping Mode 425
- Assignment Operations 426
- Transform Operations 426
- Logical Operations 427
- Filtering Operations 427
- Morphological Operations 434
- Histogram Operations 435
- Arithmetic Properties 439
- Assignment Properties 439
- Configuration Parameters 440
- Filtering Properties 440
- Histogram Properties 441
- Logical Properties 441
- Morphological Properties 441
- Transform Properties 441
- Image Processing Tool Results 442
- Custom Display 444
- Image Sharpness Results 453
- Category 456
- Up/Down Arrows ( ) 457
- Mode of Operation 458
- Average/Current Values 459
- Log Mode 465
- File Mode 465
- Directory 465
- Region of Interest (ROI) 472
- Guideline Offset 473
- Page 477 477
- Line Finder Results 479
- Outline Level 487
- Detail Level 487
- Tracking Inertia (0 - 1) 488
- Normal polarity 488
- Normal And Reverse 489
- Do Not Care 489
- Adaptive Low Sensitivity 490
- Adaptive Normal Sensitivity 490
- Adaptive High Sensitivity 490
- Fixed Value 490
- Use Default 491
- Rotation Considerations 493
- Use Nominal 494
- Instance Output Constraints 496
- Use Custom Shading Area 503
- To set the Input: 510
- Orienting Patterns Models 512
- Pattern Locator Results 519
- Page 520 520
- Point Finder 521
- Remote Vision Tool 531
- Application Samples 537
- V+ Table-Mounted Sample 543
- Application Sample Wizard 545
- Page 554 554
- V+Belt-Camera Sample 561
- Page 571 571
- Load and Run Sample Code 580
- Page 591 591
- MicroV+ Fixed-Mount Sample 597
- Page 607 607
- 2. Select the COM port 616
- Page 616 616
- Page 623 623
- Vision Basics 629
- Fixed-Mount Camera 630
- Arm-Mounted Camera 630
- Camera Height 631
- Focal Length 633
- H = (0.1 ÷ 10)(4)(480) = 9.2 637
- Black Level 642
- Camera Calibration 643
- Lighting 643
- Filtering and Special Effects 645
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