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V+ Table-Mounted Sample
After you select the application sample, you are ready for the setup and programming of the
application. A wizard guides you through the process.
The following instructions are provided as an example of a V+ table-mount camera appli-
cation.
What's required before you start?
NOTE:Each vision application sample assumes the required equipment is installed in the
workcell.
All V+ AdeptSight Application Samples require the following:
l Adept SmartController (except for MicroV+ samples)
l Adept robot
l Robot gripper (end-effector)
l Sample part for calibration
l AdeptSight software-compatible camera
The Table-mount Sample requires that the camera be upward-mounted in a fixed position in
the workcell.
What happens next?
You will use the wizard to:
l Select the robot, end-effector, camera, and virtual camera
l Teach the picture position, the vision model, and the part placement position
l Perform a robot-to-camera calibration
The wizard will pause momentarily to write the program code, then you will:
l Load the program into Task 0
l Run the program
To program the application:
Select the application sample either from the AdeptSight Getting Started screen, or from the
Tools tab in the command bar.
From the AdeptSight Getting Started screen:
V+ Table-Mounted Sample
AdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012
Page 543
- 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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