Coordinate Transformation
Description
This Step is used to transform between feature data in the image coordinate system and a pose in the machine coordinate system based on the calibration file.
Forward transformation converts feature data in the image coordinate system to a pose in the machine coordinate system. Inverse transformation converts a pose in the machine coordinate system to feature data in the image coordinate system.
Workflow
The process of configuring this Step is as follows:
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Configure the input. Connect the corresponding Step port in the graphical programming workspace, or select the corresponding input under Input in the parameter configuration panel.
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Under Calibration Settings, select a translation calibration file, and enable rotation calibration and set compensation values as needed.
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Set Inverse Transformation according to the required transformation direction.
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Under Output, check the output items, and set the Lower Limit and Upper Limit for the output items as needed.
Input Description
| Input Item | Description |
|---|---|
Data to Transform |
Feature data or a pose to be transformed. |
Capture Pose |
Robot pose in the machine coordinate system when the data to transform is acquired. This input is required only when the camera mounting mode is Eye-in-Hand, and is used to compensate for the effect of camera position changes on the transformed result. |
Parameter Description
Calibration Settings
| Parameter | Description |
|---|---|
Translation Calibration File |
Select the translation calibration file used to calculate the position deviation. |
Inverse Transformation |
Sets the coordinate transformation direction.
|
Use Rotation Calibration |
When enabled, the rotation calibration file is used to calculate the angle deviation. |
Rotation Calibration File |
After enabling Use Rotation Calibration, select the rotation calibration file used to calculate the angle deviation. |
Compensation Value |
Corrects the difference between the actual result and the expected result. You can set compensation values for positions in the X and Y directions and the rotation angle around the Z axis. |
Output Description
| If you select an expandable output item (with ▶ on the left), you must expand it, and then set the Lower Limit and Upper Limit values to determine the acceptable range. If the output value falls within the acceptable range, the measurement item is judged as OK; otherwise, it is judged as NG. |
| Output Item | Description |
|---|---|
Transformed Result |
Transformed result. |
X |
X coordinate after transformation. |
Y |
Y coordinate after transformation. |
RZ |
Rotation angle around the Z axis after transformation. |
Troubleshooting
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