Single-Point Correction
Description
This Step is used to calculate the robot pose for executing a placing action after correction based on the input feature data and current capture pose.
This Step supports only the Eye-to-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 a translation calibration file, and enable rotation calibration and set compensation values as needed.
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Under Taught Reference, acquire the base feature 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 |
|---|---|
Feature |
Position and angle of the input feature in the image coordinate system. |
Current Capture Pose |
Real-time robot pose in the machine coordinate system when the feature is captured. |
Parameter Description
Calibration Settings
| Parameter | Description |
|---|---|
Translation Calibration File |
Select the translation calibration file used to calculate the position deviation. |
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. |
Taught Reference
| Parameter | Description |
|---|---|
Base Feature |
Position and angle of the feature 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 Capture Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis of the capture pose when the base feature is acquired during teaching. |
Taught Place Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis used when the robot executes the placing action during teaching. |
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 executing the placing action after correction. |
X |
X coordinate of the placement pose after correction in the machine coordinate system. |
Y |
Y coordinate of the placement pose after correction in the machine coordinate system. |
RZ |
Rotation angle around the Z axis of the placement pose after correction in the machine coordinate system. |
Troubleshooting
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