If your system includes PreciseVision, the following procedure must be performed to interface GD to Vision and to compute the calibration data that translates vision results into coordinates useable by GD.
» To access the PreciseVision setup panel, open Configurations > Vision.
This procedure assumes that you have already installed PreciseVision on a PC, connected the camera, and established the Ethernet link between PreciseVision and your robot controller. If not, please refer to the "Supported Hardware and Software Installation" chapter of the Precise Vision Machine Vision System Introduction and Reference Manual before continuing this tutorial.
» To verify that the communications link is properly working, within PreciseVision, create a Vision Process named "Gd_test" that only contains a camera Acquisition tool.
» In the "Vision test Process name field", enter "Gd_test" (without quotation marks)
» Press Test Vision.
If the communication link is operating properly, you will see a new picture in PreciseVision's camera window. If this does not occur, re-execute the Software Installation processes in the PreciseVision manual.
If your camera is fixed mounted (i.e. not attached to the robot), perform the following:
» Check the Fixed Mounted radio button.
» Manually move the robot to the position that you would like it to move to when GD automatically takes a picture during a dispensing Process. This should be selected so that the robot and its shadow do not interfere with the picture.
» To record this position, press Teach Point and press Save to store the results on the flash disk.
» Execute the Robot Vision Area Camera Calibration procedure described in the PreciseVision manual.
If your camera is arm-mounted (i.e. it is attached to the robot), perform the following:
» Check the Arm Mounted radio button.
» Manually move the robot so the camera is over the area where you wish to perform the calibration process. It is very important that the Z height be correct so that the camera's field of view is properly focused. This Z height will be used when GD automatically takes a picture during a dispensing Process.
» To record this position, press Teach Point and press Save to store the results on the flash disk.
» To obtain step-by-step information on performing an arm-mounted camera calibration, press Calibration Setup and follow its instructions.
NOTE: For arm-mounted cameras, if the taught robot position is altered after the calibration is completed, the calibration will be invalid and must be re-computed.
This completes the PreciseVision setup and camera calibration procedure.