Check before Installation

Before installing the hardware, please check the following aspects of the camera, IPC and robot.

Check the Camera

Please confirm the camera mounting mode beforehand. The aspects to check differ according to the mounting mode.

Confirm the Camera Mounting Mode

Please select the camera mounting mode (Eye in Hand or Eye to Hand) according to your requirements on the relative position of the camera and robot.

Eye in Hand (EIH)

Eye to Hand (ETH)

Meaning

The camera is mounted on the last joint of the robot and moves with the robot.

The camera is fixed on a stand independent of the robot.

Picture
../../../_images/eye_in_hand.png
../../../_images/eye_to_hand.png

Check the Camera Stand

For ETH, please make sure that:

  • The camera is mounted at a proper height. The height can be estimated with FOV Calculator.

  • The camera stand is made of robust materials. It is recommended to use machine building steel. Aluminium materials are not recommended, because aluminium is not strong enough and might distort over time.

  • The camera stand is properly structured. The camera stand is securely assembled and provides stable support. It is recommended to use camera portal frame for more stable support.

    • The camera does not move when the robot moves or other vibration occurs.

    • If the camera is mounted on a sliding structure on the camera stand, the camera should remain stable as it slides. Check the position repeatability of the camera.

Check Cable Connection

When the camera is mounted on a robot or other mobile devices, please check its cable arrangement, and make sure that:

  • The DC power cable and Ethernet cable connected to the camera are properly fixed.

  • The cables or connectors are nor overstretched or damaged as the camera moves.

Check the IPC

Before mounting the IPC, please make sure that the mounting environment meets the following requirements:

  • Dust, iron filings, or mist are not present in large quantities.

  • The ambient temperature for IPC operation should be no higher than 60°C.

  • Do not cover the radiator of the IPC.

Check the Robot

Please check the placement, foundation, zero position, and reachability of the robot.

  • Check the robot placement:

    • Power cables connected to the robot are not damaged.

    • The robot controller is kept dry inside.

  • Check the robot foundation:

    Fasten the robot foundation with chemical bolts, and make sure it is securely fastened. The foundation does not shake as the robot moves.

  • Check the robot zero position:

    Make sure that the zero position of the robot is correctly set. If not, please re-caliberate the zero position.

  • Check the robot reachability:

    • The reachable range of the robot: The robot is able to pick and place workpieces, especially those on the edge, at the top, at the bottom, or in the corners.

    • The robot singularity: Operate the robot manually to check whether there are singularities within the robot’s workspace. If any singularity exists, please contact the Technical Support engineer for help.

  • Check the robot’s absolute accuracy

    Ensure the robot’s absolute accuracy to avoid inaccurate TCP caused by low robot absolute accuracy.