Single-Point Alignment
Description
This Step is used to calculate the robot pose for placing the object at the target position based on the object feature, target feature, and current object capture pose.
The object side supports only the Eye-to-Hand camera mounting mode. The target side supports either the Eye-to-Hand or Eye-in-Hand camera mounting mode.
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 the object-side and target-side translation calibration files, and enable rotation calibration and set compensation values as needed.
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Under Taught Reference, acquire the object and target base features and set the related taught poses.
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Under Output Settings, set the pose type.
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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 |
|---|---|
Object Feature |
Position and angle of the current object in the image coordinate system. |
Target Feature |
Position and angle of the current target in the image coordinate system. |
Current Object Capture Pose |
Real-time robot pose in the machine coordinate system when the object feature is captured. |
Current Target Capture Pose |
Real-time robot pose in the machine coordinate system when the target feature is captured. This input is required only when the target-side camera mounting mode is Eye-in-Hand, and is used to compensate for the effect of camera position changes on the output pose. |
Parameter Description
Calibration Settings
| Parameter | Description |
|---|---|
Object Translation Calibration File |
Select the object-side translation calibration file used to calculate the position deviation. |
Use Rotation Calibration |
When enabled, the object-side rotation calibration file is used to calculate the angle deviation. |
Object Rotation Calibration File |
After enabling Use Rotation Calibration on the object side, select the object rotation calibration file used to calculate the angle deviation. |
Compensation Value |
Corrects the difference between the actual result and the expected result on the object side. You can set compensation values for positions in the X and Y directions and the rotation angle around the Z axis. |
Target Translation Calibration File |
Select the target-side translation calibration file used to calculate the position deviation. |
Use Rotation Calibration |
When enabled, the target-side rotation calibration file is used to calculate the angle deviation. |
Target Rotation Calibration File |
After enabling Use Rotation Calibration on the target side, select the target rotation calibration file used to calculate the angle deviation. |
Compensation Value |
Corrects the difference between the actual result and the expected result on the target side. You can set compensation values for positions in the X and Y directions and the rotation angle around the Z axis. |
Taught Reference
| Parameter | Description |
|---|---|
Object Base Feature |
Position and angle of the object in the image coordinate system during teaching. X and Y indicate the position, and RZ indicates the rotation angle around the Z axis. Click Get base feature to open the Base Feature window. The following acquisition methods are available:
|
Object Capture Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis of the capture pose when the object base feature is acquired during teaching. |
Target Base Feature |
Position and angle of the target in the image coordinate system during teaching. X and Y indicate the position, and RZ indicates the rotation angle around the Z axis. Click Get base feature to open the Base Feature window. The following acquisition methods are available:
|
Taught Place Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis used when the robot places the object at the target position during teaching. |
Target Capture Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis of the capture pose when the target base feature is acquired during teaching. These parameters are required only when the target-side camera mounting mode is Eye-in-Hand, and are used to compensate for the effect of camera position changes on the output pose. |
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 |
|---|---|
Placement Pose |
Robot pose for placing the object at the target position after alignment. |
X |
X coordinate of the placement pose after alignment in the machine coordinate system. |
Y |
Y coordinate of the placement pose after alignment in the machine coordinate system. |
RZ |
Rotation angle around the Z axis of the placement pose after alignment in the machine coordinate system. |
Troubleshooting
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