Adept AdeptSight User Guide Manual do Utilizador

AdeptSight User's Guide, v3.2.xThis is a PDF/print version of the AdeptSight User's Guide online documentation. A Table ofContents is provid

Caliper345Configuration 346Results 346Related Topics 348Configuring Caliper Properties 349Related Topics 356Configuring Caliper Properties - Advanced

AdeptSight Camera Calibration Wizard - Automated, with BeltEdit WindowAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 100

l Take a Picture of the Calibration TargetLocated Calibration Target1. Place the target near the upstream limit, within the work area.2. Adjust the bo

AdeptSight Camera Calibration Wizard - Automated, with BeltDo not touch the target.You can click I/O to control digital signals, if needed for moving

l Start Automated Calibration1. Close the Pendant window by clicking Cancel.2. Click Start.The robot will perform multiple picks and places, taking an

AdeptSight Camera Calibration Wizard - Automated, with BeltYou may need to manually release the gripper at the end of this procedure.Test ProcedureThe

l Drag the origin marker to the center of the model with the mouseorl Click EditoClick Center to center the marker on the bounding boxoroClick on the

AdeptSight Camera Calibration Wizard - Automated, with BeltLocating Calibration Target1. Place the target near the upstream limit, within the work are

AdeptSight Camera Calibration Wizard - Manual, no Belt on page 131AdeptSight Camera Calibration Wizard - Manual with Belt on page 141AdeptSight Camera

AdeptSight Camera Calibration Wizard - Automated, Arm-MountThis topic covers calibrating an arm-mounted camera to a robot, without a conveyor belt.Req

Related Topics 397Gripper Clearance Results 399Related Topics 400Image Histogram401Configuration 403Results 404Related Topics 404Configuring Image His

AdeptSight Camera Calibration Wizard - Automated, Arm-Mountl Move the Robot to the Picture Position1. Move the robot so the camera is over the target.

Vision Model BeforeTeachingAdeptSight Camera Calibration Wizard - Automated, Arm-MountAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012

AdeptSight Camera Calibration Wizard - Automated, Arm-MountVision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Ru

Edit WindowAdeptSight Camera Calibration Wizard - Automated, Arm-MountAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 113

AdeptSight Camera Calibration Wizard - Automated, Arm-Mountl Take a Picture of the Calibration TargetLocated Calibration Target1. Adjust the bounding

l Start Automated Calibration1. Close the Pendant window by clicking Cancel.2. Click Start.The robot will perform multiple picks and places, taking an

AdeptSight Camera Calibration Wizard - Automated, Arm-MountYou may need to manually release the gripper at the end of this procedure.Test ProcedureThe

1. Move the robot so the camera is over the target.The target must be in the camera's field of view.2. Click Here.l Teach the Vision ToolSee the

AdeptSight Camera Calibration Wizard - Automated, Arm-MountEdit Windowl Locate the Target1. Adjust the bounding box to the work area. This must includ

Related TopicsCalibrations on page 51AdeptSight Belt Calibration Interview Wizard on page 59AdeptSight Belt Calibration Wizard on page 65AdeptSight Ca

Results 447Related Topics 448Configuring Image Sharpness Properties - Advanced 449Related Topics 452Image Sharpness Results 453Related Topics 454Inspe

AdeptSight Camera Calibration Wizard - Automated Upward-LookingThis topic covers calibrating an upward-looking camera to a robot.Requirementsl The rob

AdeptSight Camera Calibration Wizard - Automated Upward-Lookingl Move the Robot to the Picture Position1. Move the robot over the camera.The robot&apo

Vision Model After Teaching1. Move the robot so that the model is near the center of the camera field of view.2. Click Run to take an image.3. Adjust

AdeptSight Camera Calibration Wizard - Automated Upward-LookingEdit Windowl Click Accept, then click Next.AdeptSight User's Guide, Version 3.2.x,

l Define the Region of InterestDefining the Region of Interest1. Adjust the bounding box to the camera field of view. This must include the cal-ibrati

AdeptSight Camera Calibration Wizard - Automated Upward-LookingThis screen shows the amount of XY and Z difference between the calculated cal-ibration

The screens in this procedure are:l Select End-Effector TipThis allows you to test a calibration with a different end-effector tip than the one thatwa

AdeptSight Camera Calibration Wizard - Automated Upward-LookingVision Model After Teaching1. Move the robot so that the model is near the center of th

Edit Windowl Click Accept, then click Next.l Locate the Target1. Adjust the bounding box to the camera field of view. This must include the cal-ibrati

Tool Sampling Parameters 515Related Topics 517Pattern Locator Results 519Related Topics 519Point Finder521Configuration 522Results 523Related Topics 5

AdeptSight Camera Calibration Wizard - Automated Upward-LookingRelated TopicsCalibrations on page 51AdeptSight Belt Calibration Interview Wizard on pa

AdeptSight Camera Calibration Wizard - Manual, no BeltThis topic covers calibrating an arm- or fixed-mounted camera to a robot, without a conveyorbelt

AdeptSight Camera Calibration Wizard - Manual, no Beltl Move the Robot to the Picture Position1. Move the robot out of the way of the camera.The robot

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full

AdeptSight Camera Calibration Wizard - Manual, no BeltEdit WindowYou will place targets at a minimum of four points. These should be close to the four

l Take a Picture of the Calibration TargetLocated Calibration Target1. Adjust the bounding box to the work area. This must include the calibration tar

AdeptSight Camera Calibration Wizard - Manual, no Belt3. Continue adding more points.l Calibrate with current set of pointsTest ProcedureThe screens i

Vision Model BeforeTeachingAdeptSight Camera Calibration Wizard - Manual, no BeltAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page

AdeptSight Camera Calibration Wizard - Manual, no BeltVision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to

Edit Windowl Locate the Target1. Adjust the bounding box to the work area. This must include the calibration tar-get.NOTE:The calibration target shou

Vision Basics - Camera Mounting629Fixed-Mount Camera 630Arm-Mounted Camera 630Camera Height 631Vision Basics - Resolution632Pixel 632Resolution 632Foc

AdeptSight Camera Calibration Wizard - Manual, no Beltl Continue testing the calibrationoDo not continue testingRelated TopicsCalibrations on page 51A

AdeptSight Camera Calibration Wizard - Manual with BeltThis topic covers calibrating an arm- or fixed-mounted camera to a robot, with a conveyorbelt.R

AdeptSight Camera Calibration Wizard - Manual with Beltl Teach the Vision ToolThe following figures show the model, origin, and bounding box before an

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full

AdeptSight Camera Calibration Wizard - Manual with BeltEdit WindowAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 144

l Take a Picture of the Calibration TargetLocated Calibration Target1. Place the target near the upstream limit, within the work area.2. Adjust the bo

AdeptSight Camera Calibration Wizard - Manual with Belt1. Align the robot with the target.2. Click Here.The following steps are repeated for n = 2 thr

1. Align the robot with the target.2. Click Here.l Minimum Number of Required Calibration Points AttainedChoose either:oContinue adding more pointsoCa

AdeptSight Camera Calibration Wizard - Manual with BeltVision Model BeforeTeachingAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full

AdeptSight OverviewThe AdeptSight software is a vision application built on the AdeptSight framework. It can beused as a standalone application, or in

AdeptSight Camera Calibration Wizard - Manual with BeltEdit Windowl Locating the Target1. Close the Pendant window, if open (click Cancel).2. Click Ru

l Continue testing the calibrationoDo not continue testingThis can be repeated, from "Locating the calibration target", as many times asdesi

AdeptSight Camera Calibration Wizard - Manual, Arm-MountRequirementsl The robot and camera must be correctly connected and functioning.l The camera it

AdeptSight Camera Calibration Wizard - Manual, Arm-Mountl Select the End-Effector1. Click on the browse icon to display a list of available end-effect

Vision Model BeforeTeachingAdeptSight Camera Calibration Wizard - Manual, Arm-MountAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Pag

AdeptSight Camera Calibration Wizard - Manual, Arm-MountVision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run t

Edit WindowYou will place targets at a minimum of four points. These should be close to the four cornersof the workspace for best accuracy.The followi

AdeptSight Camera Calibration Wizard - Manual, Arm-Mountl Move the Robot to the Picture Position1. Move the robot so the camera is over the target.The

l Take a Picture of the Calibration TargetPicture of Calibration Target1. Ensure the bounding box includes the calibration target, as in the previous

Documentation MapDocumentation MapThe AdeptSight topics cover everything that appears in the AdeptSight screens after youright-click in the Tree struc

AdeptSight Camera Calibration Wizard - Manual, Arm-MountYou have collected the minimum number of points needed to perform a calibration.You can choose

l Move the Robot to the Picture Position1. Move the robot so the camera is over the target.The target must be in the camera's field of view.2. Cl

AdeptSight Camera Calibration Wizard - Manual, Arm-MountVision Model BeforeTeachingAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Pag

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full

AdeptSight Camera Calibration Wizard - Manual, Arm-MountEdit Windowl Locate the Target1. Adjust the bounding box to the work area. This must include t

l Continue testing the calibrationoDo not continue testingRelated TopicsCalibrations on page 51AdeptSight Belt Calibration Interview Wizard on page 59

AdeptSight Camera Calibration Wizard - Manual, Upward-lookingThis topic covers calibrating an upward-looking camera to a robot.Requirementsl The robot

AdeptSight Camera Calibration Wizard - Manual, Upward-lookingl Move the Robot to the Picture Position1. Move the robot over the camera.The robot'

Vision Model After Teaching1. Move the robot so that the model is near the center of the camera field of view.2. Click Run to take an image.3. Adjust

DeviceAdding a CameraAdding an Emulation DeviceAdding a Virtual CameraDeviceAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 17

AdeptSight Camera Calibration Wizard - Manual, Upward-lookingEdit Windowl Click Accept, then click Next.You will move the robot (and target) to a mini

l Define the Region of InterestDefining the Region of Interest1. Adjust the bounding box to the camera field of view. This must include the cal-ibrati

AdeptSight Camera Calibration Wizard - Manual, Upward-lookingTest ProcedureThe screens in this procedure are:l Select End-Effector TipThis allows you

Vision Model Before TeachingAdeptSight Camera Calibration Wizard - Manual, Upward-lookingAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/20

AdeptSight Camera Calibration Wizard - Manual, Upward-lookingVision Model After Teaching1. Move the robot so that the model is near the center of the

Edit Windowl Click Accept, then click Next.AdeptSight Camera Calibration Wizard - Manual, Upward-lookingAdeptSight User's Guide, Version 3.2.x, U

AdeptSight Camera Calibration Wizard - Manual, Upward-lookingl Define the Region of InterestDefining the Region of Interest1. Adjust the bounding box

AdeptSight Camera Calibration Interview Wizard on page 75AdeptSight Camera Calibration Wizard - Automated, no Belt on page 85AdeptSight Camera Calibra

AdeptSight Special ToolsAdeptSight SequencesAdeptSight Sequences let you see the order and dependency of vision tools that will beexecuted, and give V

ToolToolAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 18

Related TopicsOverlap Tool on page 193AdeptSight Sequence on page 181Gripper Offset Table on page 199AdeptSight User's Guide, Version 3.2.x, Upda

AdeptSight SequenceAdeptSight Sequences let you see the order and dependency of vision tools that will beexecuted, and give V+ and MicroV+ a means for

ConfigurationThe Sequence object shows the list of tools that will be executed as part of the sequence, theorder in which they will be executed, and t

Communication ToolThe Communication Tool is a tool for conveyor tracking applications. The purpose of the Com-munication Tool is to provide instructio

How It WorksCommunication Tool Objec EditorHow It WorksThe Communication Tool typically receives instances from an Overlap Tool, which preventsdiffere

l Instances that are passed by the tool are sent to the controller queue.l Instances that are not output to the controller, because they are outside t

PropertiesPropertiesObject DescriptionPropertiesCalibration Specifies the robot-to-camera calibration appliedto the results.Gripper Configuration Spec

Object DescriptionSearch Area Defines the height and width of the region of inter-est.AdvancedIs Running In Sequence If the tool is running in a seque

Configuring Communication Tool PropertiesThe basic steps for configuring a Communication Tool are:1. Select the tool that will provide input images.2.

Arc CaliperArc Edge LocatorArc FinderBlob AnalyzerCalculated ArcCalculated FrameCalculated LineCalculated PointCalibration Grid LocatorCaliperColor Ma

Configuring Communication Tool PropertiesHeight Height of the region of interestWidth Width of the region of interestLocation Properties for the Regio

Two different Communication Tools cannot write to the same queue on a controller. If thereare multiple Communication Tools, either on the same or diff

Related TopicsGripper ConfigurationSelection ModeThis specifies one of Disabled, Use Default, or Use Model Identifier for determining the offsetindex

Overlap ToolThe purpose of the Overlap Tool is to make sure that parts moving on a conveyor belt are rec-ognized only once.Because a part found by the

How It Workscation.Overlap Tool Object EditorHow It WorksThe Overlap Tool filters results. If an instance in the image is a new instance (Pass result)

l The camera, robot, and conveyor belt are calibrated.l The connection to the Adept SmartController is active.l The tool is receiving latched values f

ResultsConfigurationObject DescriptionPropertiesCalibration The robot-to-belt camera calibrations to use forthe calculationsDistance The minimum dista

Gripper OffsetThe Gripper Offset Tool defines where on the part a robot can pick up a part, giving the rela-tionship between the pick point, the part

Gripper Offset TableNOTE:A gripper offset is not always needed to pick a part, so you may not need to build aGripper Offset Table for your applicatio

Related Topics and ManualsRelated Topics and ManualsVision Basics - Resolution on page 632Calibrations on page 51Application Samples on page 537AdeptS

Related TopicsIt then lists an index (used in V+ or MicroV+), along with the offset transform, and anoptional description.New offsets are added by cli

Vision DevicesCamerasThe AdeptSight software supports the following cameras:l Basler 1394al Basler 1394bl Basler Gigabit Ethernetl Emulation devicesCa

Related TopicsAdding an Emulation Device on page 215Adding a Virtual Camera on page 221AdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012

Adding a CameraAll of the supported physical cameras use a Basler Pylon device driver.Adding a Camera to the WorkspaceTo add a camera:1. Right-click i

Adding a Camera to the WorkspaceA camera is added to the AdeptSight workspace and the corresponding object editoropens:NOTE: The AdeptSight software o

Emulation Mode Image Source SelectionIf you check "Get images from a directory", and supply a directory that has no validimages, the AdeptSi

Related TopicsCamera Properties ScreenIn the Acquisition Settings group, the current acquisition settings for the selected physicalcamera are automati

Standalone Camera CalibrationYou should calibrate the camera before you create any vision tools. The basic camera cal-ibration is a "spatial"

Calibration with a Grid of DotsPerforming a Calibration1. Click Add in the Calibrations group (within the Virtual Camera object editor window).a. Sele

2. Click Live to view a live image from the camera input. The live image is displayed in theVision Window.a. The grid should cover as much of the came

PrerequisitesHardwareYou should be familiar with your robot and its capabilities. In particular, you should know:l How to power-up the controllerSmart

Calibration with a Grid of DotsGrid Pattern, Before Calibration5. Click Calibrate to begin the calibration.The system scans the grid and places an ove

Grid Pattern, After CalibrationNOTE:If you get an error message that there were an insufficient number of cal-ibration dots found, your dot target is

Calibration with Fixed-PixelsCalibration with Fixed-PixelsFixed-pixel calibration allows you to specify what physical distance is represented by eachc

Creating a Dot TargetThe quality and precision of a grid of dots target have a direct impact on the overall precision of your appli-cation. Dot target

Adding an Emulation DeviceAn Emulation Device is a stored collection of images, which the AdeptSight software can treatas if they were coming from a &

Adding an Emulation DeviceAn Emulation Device and an Emulation Device Virtual Camera are added to theAdeptSight workspace. By default, the virtual cam

Image Added to the Emulation DeviceWhen you have multiple images for an Emulation Device, you can arrange them withthe Move Up and Move Down buttons.

Configuring the Emulation Device Virtual CameraEmulation Device Virtual Camera ScreenEdit, in the Acquisition Settings pane, can be used to modify the

Selecting a Random Instances RangeThe right portion of the Emulation Configuration field will say what the settingor range is.4. If there are multiple

Hardware Installation and StartupAfter objects have been added to the AdeptSight workspace, the object editorsare used to edit their parameters.For mo

Adding a Virtual CameraYou can add a virtual camera to the workspace when adding a physical camera, or you canchoose to add a virtual camera when you

Related TopicsVirtual Camera Object EditorEmulation Configuration Selection2. Use the Device list to select the physical or emulated camera to associa

Camera PropertiesUse the Camera Properties window to get information about your camera and set various parameters tocontrol the camera's behavior

Video FormatThe available pixel formats will be displayed in the drop-down box when you click the down-arrow. In thepreceding example, this is either

Each line displays the minimum allowable value for that property, a bar indicating the current value, themaximum allowable value , and the numeric val

TriggerAcquisition parameters are validated before being sent to the camera. If you enter an exposure timethat your camera does not support, the time

Mode State is a checkbox that determines whether or not to use an external trigger. The default is off.Trigger Source and Trigger Activation have no e

Vision ToolsAdeptSight software provides an extensive set of vision tools for basic and complex appli-cations.These tools include rulers for measuring

NOTE: The AdeptSight software requires a USB dongle with AdeptSight license to enablecomplete functionality. This dongle is included with your AdeptSi

Image Processing ToolsLine FinderThe Line Finder identifies linear features on objects and returns the line angleand point coordinates. See Line Finde

Blob Analyzer on page 293.CaliperThe Caliper identifies one or more edge pairs and measures distances betweenthe two edges within each pair. See Calip

Calculation ToolsGripper ClearanceThe Gripper Clearance tool analyzes the results of histograms to determinewhich parts can safely be picked. See Grip

application, run a vision tool on a remote PC.Because image processing is computationally intense, this can offload a sig-nificant portion of the proc

Vision Tools Summary TableFunction Tool Use/function/description See alsoLocating and Finding Tools The Locator and Finder Tools create a vectorizedde

Vision Tools Summary TableFunction Tool Use/function/description See alsoInspection Tools Inspection tools are commonly used in vision appli-cations t

Function Tool Use/function/description See alsoCalculated Arc Calculates the circle that encom-passes an arc, based on a specified cal-culation mode.C

Adding Vision ToolsAdding a vision tool is also referred to as Creating the tool (you are creating an instance of thetool).Each vision tool is configu

Vision OverviewA vision system consists of some means of obtaining an image, and some means of proc-essing that image.l AdeptSight systems typically u

Related TopicsAdding a Locator Model Tool2. Use the controls within the object editor to configure the tool for your application. Fordetails, see Work

Arc CaliperThe Arc Caliper tool identifies and measures the gap between one or more edge pairs of arc-shaped objects. Edges can be disposed in a radia

ConfigurationConfigurationBasic steps for configuring an Arc Caliper1. Select the tool that will provide input images.2. Position the Arc Caliper tool

Object DefinitionEdge Filter Half Width The half width of the filter should be set to thewidth of the edge as it appears in the greyscaleimage .Projec

Edge Pair Collection EditorObject DefinitionEdge 1 Position Score Position score of the first edge of the selected pairEdge 2 X X coordinate of the ce

Configuring Arc Caliper PropertiesEdge DetectionEdge Detection settings are used to configure the parameters that the Arc Caliper will use tofind pote

Configuring Arc Caliper PropertiesIf the display in the Pair Settings window is blank, or the edges are not properly placed, closethe window and verif

l Access the parameters for each pair configurationl Add and remove edge pair configurationsl Rename edge pair configurationsPairs List in the Caliper

Configuring Arc Caliper Propertiespair configuration, which are named First Edge and Second Edge.3. Configure parameters for each edge. Refer to the f

l If both constraints are selected, each constraint accounts for 50% of theedge score.Magnitude ConstraintThe Magnitude constraint is based on edge va

Vision Toolstroubleshooting. Images taken at a system that is having trouble can be sentto a remote facility for analysis.Virtual CameraThe interface

Configuring Arc Caliper Propertiesthe region of interest.l It is possible to graphically set a position constraint function when theapproximate positi

Region of Interest (ROI)Most tool position parameters can be set through the Region of Interest section of the toolinterface. The following are the pa

Related TopicsExample of Tool Position for a Sector-type Region of InterestRelated TopicsArc Caliper on page 241Configuring Arc Caliper Properties - A

Configuring Arc Caliper Properties - AdvancedThe Advanced Properties section of the Arc Caliper tool interface provides access to advancedArc Caliper

Tool SamplingObject DefinitionCustomCustom Sampling Step lets you set a samplingstep value other than the default. To select a cus-tom sampling step,

l Radial - Radial projection is used to find edges aligned along radial projections, muchlike the spokes of a wheel.The default Projection Mode is Rad

Arc Caliper ResultsResults for edges found by the Arc Caliper tool are shown in the grid of results, below the Dis-play window, as shown in the follow

Related TopicsObject DefinitionPair Score Score is the calculated score, between 1 and 0, forthe edge pair. The score is calculated according tothe de

Arc Edge LocatorThe Arc Edge Locator tool identifies and measures the position of one or more edges on a cir-cular object. Edges can occur in a radial

User InterfaceThe Workspace Explorer and the Vision Window are the primary user interfaces to the Adept-Sight software.They are both launched from th

Arc Edge LocatorArc Edge Locator Object EditorAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 260

ConfigurationObject DefinitionPropertiesMagnitude Threshold The Magnitude Threshold sets the acceptable mag-nitude value for potential edges.Edge Scor

Edge Constraint EditorObject DefinitionEdge X The X coordinate of the located edge (midpoint oflocated arc).Edge Y The Y coordinate of the located edg

Configuring Arc Edge Locator PropertiesWhen the Arc Edge Locator is executed, the Arc Edge Locator first applies edge detectionparameters to the entir

Configuring Arc Edge Locator PropertiesNOTE: If the display in the Edge Settings window is blank, or the edges are not properlyplaced, close the windo

1. Select Configuration > Properties > Search ParametersClick Search Parameters to select it.2.Click the browse icon ( ).The following window op

Configuring Arc Edge Locator PropertiesPolarityPolarity corresponds to the change in light values, moving from left to right inthe display, along the

magnitude constraint function.The Magnitude Constraint is applied globally to all edges detected.The following figure shows two different setups for a

Configuring Arc Edge Locator PropertiesThe position in the function editor corresponds to the same position inthe display.Setting the Position Constra

Object DefinitionRadiusThe radius of the tool corresponds to the radius ofthe median annulus of the tool sector.ThicknessDistance between the two boun

Grid of ResultsThe Display window for an individual tool shows you the results for the tool being edited andalso allows you to edit the region of inte

Configuring Arc Edge Locator Properties - AdvancedThe Advanced Properties section of the Arc Edge Locator tool interface provides access toadvanced Ar

Related TopicsObject DefinitionCustomCustom Sampling Step lets you set a samplingstep value other than the default. To select a cus-tom sampling step,

Arc Edge Locator ResultsThe Arc Edge Locator outputs an image showing the located arc edges and a grid of results,with data on the edges.Display Windo

Display WindowObject DefinitionElapsed Time The Elapsed Time is the total execution time ofthe Arc Edge Locator. Elapsed Time is not visible inthe res

Object DefinitionProjection Magnitude The Edge Locator processes data within the regionof interest along pixel-wide lines, called projectionpaths, par

Arc FinderThe Arc Finder tool identifies circular features on objects and returns the coordinates of thecenter of the arc, the angle between the two e

ConfigurationObject DefinitionFit Mode Specifies the mode used to calculate and returnvalues for the found arc.Minimum Arc Percentage Minimum percenta

Object DefinitionConformity Tolerance Maximum local deviation between the expectedmodel contours of an instance and the contoursactually detected in t

The Vision WindowThe Vision WindowThe Vision Window shows the cumulative results of vision operations executed on the visionbuffer. The Vision Window:

Related TopicsRelated TopicsConfiguring Arc Finder Properties on page 281Configuring Arc Edge Locator Properties - Advanced on page 271Arc Finder Resu

Configuring Arc Finder PropertiesResultsResults for each arc detected by the Arc Finder tool are shown in the grid of results, below thedisplay.Parts

PropertiesObject DefinitionRotation The rotation of the region of interestAverage Contrast Average contrast between light and dark pixels oneither sid

The available modes are:Mode DescriptionDark To Light The Arc Finder searches only for arcs occurring ata dark to light transition in grey-level value

PropertiesObject DefinitionRadiusThe radius of the tool corresponds to the radius ofthe median annulus of the tool sector.ThicknessDistance between th

Related TopicsArc Finder on page 277Configuring Arc Edge Locator Properties - Advanced on page 271Arc Finder Results on page 291Related TopicsAdeptSig

Configuring Arc Finder Properties - AdvancedThe Advanced Properties section of the Arc Finder tool interface provides access to advancedArc Finder par

Advanced Propertiesl Adaptive Low Sensitivity uses a low sensitivity, adaptive threshold fordetecting edges. Adaptive Low Sensitivity detects strongly

If the extension of the destination file is csv, then the log is written in csv format, whichopens with Excel. If a different extension is selected, t

Virtual Camerasl Displays the images from virtual camerasl Displays results of image processing toolsl Provides access to images (stored in buffers an

Arc Finder ResultsDisplay WindowThe Display window shows the image being processed, the region of interest selected, andthe locations of found instanc

Related TopicsObject DefinitionArc Y The Y coordinate of the point midway between theends of the found arc.Radius The radius of the found arc, Arc X,

Blob AnalyzerThe Blob Analyzer processes pixel information within a rectangular region of interest The tooluses these pixel values to apply image segm

Histogramclassification of valid blobs.The Blob Analyzer returns an array of numerical results for each valid blob that has beenfound and located. Blo

A dynamic threshold can be either a soft or hard threshold. It can be set to apply light, dark,inside, or outside segmentation.Light SegmentationThe L

ConfigurationObject DefinitionResults Display Mode Defines how the results are displayed in theimage display. The following options are avail-able:l M

Object DefinitionCalculate Blob Angle Enables or disables the calculation of the angle ofeach blob.Custom Sampling Step When enabled, the tool uses th

Configuring Blob Analyzer PropertiesThe Blob Analyzer tool determines which areas of an image will be output as blobs by applyingImage Segmentation an

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproduced inwhole or in part without pri

Tabs in the Vision WindowTabs in the Vision Window - the selected tab determines the image displayedTabs are used to represent and access items in the

Segmentation ParametersThe Blob Settings WindowSetting Blob Area ConstraintsArea constraints define the Minimum Area and Maximum Area of valid blobs.A

Light SegmentationThe Light Segmentation mode is used for extract light blobs on a dark back-ground. This is the inverse function of the Dark Segmenta

Segmentation Parametersl A dynamic threshold is an adaptive threshold that varies according tochanges in lighting in the input images. See Dynamic Thr

The two HSL modes let you specify H, S, and L values for both Color and Tolerance. These canbe set numerically, using values from 0 to 255, or in a co

Segmentation ParametersThere are three types of threshold functions: hard, soft and dynamic.l Thresholds are modified in the threshold function Editor

l Weighted pixels are shown as completely included within the BlobImage.Soft Thresholding ExampleDynamic Threshold FunctionsDynamic threshold modes pr

Blob Selection and DisplayBlob Selection and DisplayObject DefinitionAllow Clipped Blobs Enables or disables the inclusion of clipped blobs inthe resu

Configuring Blob Analyzer Properties - AdvancedThe Advanced Properties section of the Blob Analyzer tool interface provides access toadvanced Blob Ana

Tool Sampling ParametersBlob SortingBlob Sorting enables the sorting of blob instances, as displayed in the results grid.When No Sorting is selected (

These criteria are defined in Blob Analyzer Results on page 313.The sort criteria are:Area Hole CountBounding Box Bottom Inertia MaximumBounding Box C

3D Visualization WindowVisualization window. If you add a gripper to your robot, the tool offset is added to the 3D dis-play. If you add other objects

Tool Sampling ParametersGrey-Level MinimumGrey-Level RangeGrey-Level Standard DeviationCalculate Blob Angle (True/False)Enables the calculation of the

l Perimeter Resultsl Grey-Level Resultsl Extrinsic Inertial Resultsl Chain Code Resultsl Intrinsic Box Resultsl Topological ResultsHole Filling Enable

Related TopicsRelated TopicsBlob Analyzer on page 293Blob Analyzer Results on page 313Configuring Blob Analyzer Properties on page 299AdeptSight User&

Blob Analyzer ResultsResults for found blobs appear as a graphic display and in the grid of results, below the dis-play, as shown in the following fig

Description of Blob Analyzer ResultsNOTE: To optimize the tool execution time, you should enable only the results that youneed for your application.De

Object DefinitionElapsed Time The Elapsed Time is the total execution time ofthe Blob Analyzer. Elapsed Time is shown imme-diately below the Display w

Intrinsic Inertia ResultsObject DefinitionRoundness The degree of similarity between the blob and a cir-cle. Values are between 0 and 1, where 1 is a

Object DefinitionElongation The degree of dispersion of all pixels belonging to theblob around its center of mass. The elongation of theblob is calcul

Inertia X and Y axes require that the Extrinsic Inertia Results box be checked in the Data Col-lection property.Object DefinitionInertia X-Axis The mo

Intrinsic Bounding Box and ExtentsIntrinsic Bounding Box PropertiesChecking the Intrinsic Box Results box in the Data Collection property enables the

Workspace ExplorerThe Workspace Explorer is the main work area for the AdeptSight software. You can use it toadd and delete objects, access an object

Intrinsic Bounding Box ResultsChecking the Extrinsic Inertial Results box in the Data Collection property enables the fol-lowing results:Object Defini

Object DefinitionPrincipal Axes Rotation The angle of axis of the smallest moment of iner-tia with respect to the X-axis of the principal axes.Extrins

Extrinsic Bounding Box ResultsObject DefinitionBounding Box Bottom Bottommost coordinate of the bounding box (mini-mum Y value) aligned with respect t

Extrinsic ExtentsChecking the Intrinsic Box Results box in the Data Collection property enables the followingresults:Object DefinitionExtent Left Dist

Topological ResultsTopological ResultsHole CountChecking the Topological Results box in the Data Collection property enables the Hole Countresults.The

Calculated ArcCalculated Arc calculates the circle enclosing an arc based on a specific calculation mode. Pos-sible modes are:l Three points on the ar

ConfigurationCalculated Arc Object EditorConfigurationObject DefinitionPropertiesAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 3

Object DefinitionMode Mode of tool execution: 3 points or center and onepoint.Center Arc Point Center arc point used in the calculation.First Arc Poin

Calculated FrameCalculated Frames are used to create a vision frame from other features. Frames allow you toplace vision tools on objects that are not

ToolbarsToolbarsThe AdeptSight toolbars provide quick access to frequently-used items (see the following fig-ures). The toolbar icons will be shown (o

Calculated FrameCalculated Frame Object EditorAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 330

ConfigurationObject DefinitionPropertiesMode Mode of tool execution.Origin Point Origin point to use in the frame calculation.Positive X Point Positiv

Calculated LineYou can use this tool to create lines from the results of other tools, or to place reference(fixed) lines in the field of view.A Calcul

Calculated LineCalculated Line Object EditorAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 334

ConfigurationObject DefinitionPropertiesMode Mode of tool execution: 2 points or perpendicularline.Point 1 First point used in the calculation.Point 2

Calculated PointOften, the most accurate way to calculate a point is to calculate it from other features. Forexample, Calculated Points can be calcula

Calculated PointCalculated Point Object EditorAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 338

ConfigurationObject DefinitionPropertiesMode Mode of tool execution.Point 1 First point used in the calculation.Point 2 Second point used in the calcu

Item DescriptionFinds text in any of the following objects:l UI Builder C# codel C# Programl C# Custom Allocation Scriptl C# Custom Vision Tooll V+ mo

Calibration Grid LocatorThe Calibration Grid Locator tool is used to locate a collection of dots in the field of view. It isused by the grid calibrati

ConfigurationConfigurationObject DefinitionPropertiesOutline Level The coarseness of the contours used to build themodel at the Outline level.Results

Object DefinitionRatio The ratio of height/width of the located dotArea The area of the located dotResultsAdeptSight User's Guide, Version 3.2.x,

CaliperThe Caliper tool identifies and measures the gap between one or more edge pairs on anobject. The Caliper uses pixel grey-level values within th

ConfigurationConfigurationObject DefinitionPropertiesMagnitude Threshold The Magnitude threshold sets the acceptable mag-nitude value for potential ed

Object DefinitionFrame/Group The frame or group to which the result belongs.Pair Name Name of the edge pair (specified in the Pairs prop-erty)Pair Sco

Related TopicsObject DefinitionEdge 2 Score Minimum score to accept an edge as the secondedge of the selected pair.The score is computed according to

Configuring Caliper PropertiesEdge PropertiesEdge Magnitude expresses the strength of a potential edge.Magnitude ThresholdSets the acceptable magnitud

ToolbarsItem DescriptionDisplays the currently-selected controller. A list ofavailable controllers can be viewed by clicking thedown arrow ( ).(not co

Configuring Caliper PropertiesFound Edges and CaliperIf the display in the Pair Settings window is blank, or the edges are not properly placed, closet

Edge Pair Collection EditorThe caliper tool can measure any number of pairs. When the caliper is executed, it firstapplies edge detection parameters t

Configuring Caliper PropertiesPairs List in the Caliper InterfaceTo access the parameters for an edge pair configuration, click on that pair configura

Edge Pair ParametersThere are two criteria that affect the choice of valid edges: Polarity and Edge Score Con-straints.PolarityPolarity corresponds to

Configuring Caliper PropertiesThreshold, which is represented in the display by two red lines.Edges having a magnitude equal to or exceeding the Magni

l Values in the Constraint Function Editor indicate relative distance in theregion of interest where 0.0 is the leftmost position and 1.0 is the right

Related TopicsX X coordinate of the center of the region of interestY Y coordinate of the center of the region of interestDegrees Angle of rotation of

Configuring Caliper Properties - AdvancedThe Advanced Properties section of the Caliper tool interface provides access to advanced Cal-iper parameters

Related TopicsObject DefinitionDefault Default is the best sampling step computed by thetool. It is based on the average size, in calibratedunits, of

Color MatchingThe Color Matching Tool searches and analyzes images to find areas of color that match user-defined filters. Typically, this tool is use

Item Description(not enabled)(enabled, not cal-ibrated)(enabled, calibrated)DANGER:The robot may move dur-ing the enable power/calibration pro-cedure

Color MatchingColor Matching Object EditorAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 360

Creating a FilterColor Finder FilterConfigurationObject DefinitionConfigurationVision Display Units Units for the display for this image source. Defau

ConfigurationObject DefinitionBilinear Interpolation Enabled Specifies if bilinear interpolation is used to samplethe input image. By default, bilinea

Vision Window Showing Results of the Color MatchResultsNone.The Color Matching tool outputs images that can be used by other vision tools.Related Topi

Configuring Color Matching PropertiesThe Properties section of the Color Matching interface provides access to advanced ColorMatching Tool parameters

Configuring Color Matching PropertiesObject DefinitionCustomCustom Sampling Step lets you set a samplingstep value other than the default. To select a

Location Properties for the Region of InterestRelated TopicsColor Matching on page 359Creating and Configuring Color Filters on page 369Related Topics

Creating and Configuring Color FiltersThe Color Matching tool analyzes the region of interest by applying all the defined filters tothe image within t

ToolbarsItem DescriptionDisplays the current monitor speed. To change themonitor speed, select it from the drop-down list, ortype the desired value in

Color Values1. Set an initial color in one of the following manners:l Pick a specific color in the display: Under Selection Tools, select the "Co

White 255, 255, 255 0, 0, 255Black 0, 0, 0 0, 0, 0Middle Grey 127, 127, 127 0, 0,128Red 255,0,0 0, 255, 128Green 0, 255, 0 85, 255, 128Blue 0, 0, 255

Color TolerancesColor TolerancesThe color filter accepts any color values that are within defined tolerances. Tolerance valuescan only be expressed in

Custom Vision ToolThe Custom Vision tool is used to specify the program that is called when the tool is executed.From within a Custom Vision tool, oth

Custom Vision Toolto the system. You can select a specific vision device from this list and associate it with theCustom Vision tool. See the following

Custom Vision Tool CodeConfigurationObject DefinitionConfigurationOverlayMarkers This is covered in the AdeptSight Reference Guide.PropertiesConfigura

ResultsObject DefinitionResults Logging Specifies if a results log will be generated. A csvextension generates csv format.Show Name Is the name associ

Edge LocatorThe Edge Locator tool identifies and measures the position of one or more edges on an object.The Edge Locator uses pixel grey-level values

ConfigurationConfigurationObject DefinitionPropertiesFilter Mode Determines the results that will be returned fromthe tool (All, First Edge, Last Edge

ResultsObject DefinitionInstance The index of the result instanceFrame/Group The frame or group to which the result belongs.Edge X The X coordinate of

Shortcut MenusRight-clicking on an object in the Tree structure of the Workspace Explorer opens a shortcutmenu, as shown in the following example.Exam

Configuring Edge Locator PropertiesFilter ModeDetermines the edges that will be returned from the tool, as follows:All, First Edge, Last Edge, MiddleM

Configuring Edge Locator PropertiesEdge Constraint EditorThis tool uses a form for defining the constraints.To set constraints, from the object editor

scoring method restricts the search so that only results for valid edge pairs arereturned.There are two types of parameters that affect the choice of

Configuring Edge Locator PropertiesMagnitude ConstraintThe Magnitude constraint is based on edge values relative to the MagnitudeThreshold. Edges havi

1. In the drop-down list above the function editor, select Position Con-straints.2. In the Function Editor, use the mouse to drag handles and set the

Configuring Edge Locator PropertiesOffsetOffset is the center of the ROI, defined by:X X coordinate of the center of the region of interestY Y coordin

Related TopicsEdge Locator on page 377Configuring Edge Locator Properties - Advanced on page 389Related TopicsAdeptSight User's Guide, Version 3.

Configuring Edge Locator Properties - AdvancedThe Advanced Properties section of the Edge Locator tool interface provides access toadvanced Edge Locat

Shortcut MenusItem DescriptionDuplicate Creates a copy of the selected object in its current folder. Anumber appended to the end of the name for the d

Related TopicsObject DefinitionCustom Sampling Step For specific applications where a more appropriatetradeoff between speed and accuracy must beestab

Gripper Clearance ToolDescriptionThe Gripper Clearance tool is a filter used to determine which parts can be picked withoutinterference. Instances ret

Three Histograms Around a PartRelated TopicsConfiguring Gripper Clearance Properties on page 393Gripper Clearance Results on page 399Image Histogram o

Configuring Gripper Clearance PropertiesThe tab of the selected histogram is highlighted. Clicking on the origin or outline of a his-togram with the m

ThresholdsSet the greylevel range of pixels to consider with Threshold Black and Threshold White. Thesetwo properties are set in the Advanced Properti

Threshold WhiteThe lightest greylevel value to consider when scanning the histogram. Greylevel valuesabove Threshold White are ignored during the hist

Tool LinksDeleteRemoves the selected histogram.Tool LinksImage SourceInput to the Gripper Clearance tool (which virtual camera/tool).NOTE: This needs

Location Properties for the Region of InterestDisplayShow Result Gripper RegionsWhen true, the Vision Window displays the gripper regions. Passed regi

Gripper Clearance ResultsThe Gripper Clearance tool filters instances, input from the Relative To tool, based on thevalues in the tool's histogra

Icon DescriptionOpens the Create a New Object dialog, which is used to add a new objectto the workspace. For more details on adding new objects to the

Related TopicsResults of the Gripper Clearance ToolVision WindowPassed and failed histograms are displayed in the Vision Window if both Show Result Gr

Image HistogramThe Image Histogram tool computes image statistics for all the pixels contained in the tool’sregion of interest. Pixels can be excluded

Image HistogramImage Histogram Object EditorAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 402

Image Histogram ROIConfigurationObject DefinitionPropertiesThreshold Black Darkest grey-level value to consider when buildingthe histogram.Threshold W

ResultsObject DefinitionOffset Shift of the ROIfrom X, Y, and angle returned bythe Relative To tool, or center and rotation of theROI: X, Y, and angl

Configuring Image Histogram PropertiesThe Image Histogram tool calculates grey-level statistics for a selected region of interest. Thefinal histogram,

TailsTail WhiteTail White specifies the amount of light pixels to be excluded from the histogram, startingfrom the light end of the histogram distribu

Location Properties for the Region of InterestRelated TopicsImage Histogram on page 401Configuring Image Histogram Properties - Advanced on page 409Im

Configuring Image Histogram Properties - AdvancedThe Advanced Properties section of the Image Histogram tool interface provides access toadvanced Imag

Object EditorsIcon DescriptionOpens the Links to Other Objects window, which displays the Incomingand Outgoing linked objects for the selected object.

Related TopicsObject DefinitionCustomCustom Sampling Step lets you set a samplingstep value other than the default. To select a cus-tom sampling step,

Image Histogram ResultsThe Image Histogram Tool outputs statistics about grey-levels for a selected region of inter-est.Display WindowThe Display wind

Image Histogram ResultsObject DefinitionMaximum Grey-Level Highest grey-level value of all pixels in the toolregion of interest that are included in t

Object DefinitionMode Pixel Count Number of pixels in the histogram bin which cor-responds to the Mode of the grey-level distributionof all pixels in

Image ProcessingThe Image Processing Tool processes greyscale images by applying arithmetic, assignment,logical, filtering, morphological, or histogra

ResultsObject DefinitionMode of Operation Operation applied by the Image Processing tool.Image Source Defines the image source used for processing byt

Image Processing Custom Editing FormImage TypesThe tool can accept unsigned 8-bit, signed 16-bit, and signed 32-bit images as input. Theprocessing is

Operand ImageSome common uses of an image processing tool are:l Inverting images (negative image)l Creating a binary image, using a threshold operatio

l Some operations require a constant as a second operation. This constant must bedefined in the Advanced Parameters section of the tool interface.l Th

Workspace Explorer with Arc Finder EditorMost object editors include one or more of the following items:Item DescriptionEditor name Displays the name

Modes of OperationObject DefinitionAssignment PropertiesAssignment Initialization All the pixels of the output image are set to a spe-cific constant v

Object DefinitionFiltering Horizontal Prewitt Applies a Horizontal Prewitt filterFiltering Vertical Prewitt Applies a Vertical Prewitt filterFiltering

Related TopicsObject DefinitionHistogram Dark Threshold Changes each pixel value depending on whetherthey are less or greater than the specified thres

Configuring Image Processing PropertiesEach Image Processing Tool in application performs a selected operation on an image, calledthe input image. An

Arithmetic OperationsOperationThe available operations are described in greater detail under the following sections: Arith-metic Operations, Assignmen

Clipping ModesTwo clipping modes are available for arithmetic operations: normal and absolute.Normal Clipping ModeNormal Clipping mode forces the valu

Assignment OperationsMultiplicationThe input image pixel value is multiplied by the operand value (constant or correspondingOperand image pixel). The

Logical OperationsThere are two logical operation modes. In the first, the operation is applied to every pixel ofan input image and the corresponding

Filtering OperationsExample Of Image After Some Common Filtering OperationsCreating A Custom FilterAdeptSight software enables the creation of a Custo

1. In the Image Processing Tool interface, expand the Advanced Param-eters list.2. Under Configuration, select the Operation parameter.3. In the right

Dockable Editor WindowsObject editors for vision tools usually have a Display window (not the same as the Vision Win-dow), a Results window, and a Con

Filtering OperationsGaussian FilterThe Gaussian operation acts like a low pass filter. This has the effect of blurring the image.Gaussian filters are

Vertical Prewitt Filtering KernelHorizontal Sobel FilterThe Horizontal Sobel operation acts like a gradient filter. This has the effect of highlightin

Filtering OperationsVertical Sobel Filtering KernelsHigh PassThe High Pass operation acts like a circular gradient high pass filter. It essentially ex

Laplacian Filtering KernelsSharpen FilterThe Sharpen operation sets each pixel in the output image as the subtraction of the averageof all the input i

Morphological OperationsSharpenLow Filtering KernelsMedianThe Median operation sets each pixel in the output image as the median luminance of all thei

Examples Of Resulting Images After Some Common Morphological OperationsDilateThe Dilate operation sets each pixel in the output image as the largest l

Histogram Operationsapplied to an unsigned 8-bit image: Equalization, Stretching, Light Threshold and DarkThreshold.Example Of Image After Some Common

Related TopicsImage Processing on page 415Configuring Image Processing Properties - Advanced on page 439Related TopicsAdeptSight User's Guide, Ve

Configuring Image Processing Properties - AdvancedThe Advanced Properties section of the Image Processing Tool interface provides access toadvanced Im

Editor Window Tabs2. Click and hold the tab at the top of the editor window to select it.3. Drag the tab into the workspace.Window position locators a

Configuration ParametersAssignment WidthRead-only. Assignment Width is a constant value that indicates the width, in pixels, of theoutput image.Config

Filtering Kernel SizeFiltering Kernel Size sets the size of the kernel applied by a fixed (predefined) filtering oper-ation.Filtering ScaleFiltering S

Image Processing Tool ResultsTransform FlagsTransform Flags sets the flag used by a transform operation, either FFT or DCT.Image Processing Tool Resul

Image SamplingThe Image Sampling Tool is used to extract an area of an image and output it as a separateimage.To create an Image Sampling tool, right-

ResultsObject DefinitionVision Display Units Units used to display image source. Default is Mil-limeter.Region of Interest (ROI)Offset Specifies the c

Image SharpnessThe Image Sharpness Tool computes the sharpness of major edges in a user-defined regionof interest.l Typical use of the Image Sharpness

InputInputThe Input required by the Image Sharpness tool is an image provided by another tool.Images can be provided by other tools, such as an Image

Object DefinitionKernel Size Sets the size of the kernel of the operator for thesharpness process. The default setting of 5 (a 5x5kernel) is generally

Related TopicsRelated TopicsImage Sharpness Results on page 453Configuring Image Sharpness Properties - Advanced on page 449AdeptSight User's Gui

Configuring Image Sharpness Properties - AdvancedThe Image Sharpness Tool operates by first identifying a set of points with high local greys-cale var

Editor Window ManagementEditor Window ManagementWhen working with multiple editor windows, you can right-click on any object editor tab todisplay a me

Configuring Image Sharpness Properties - AdvancedObject DefinitionCustomCustom Sampling Step lets you set a samplingstep value other than the default.

the number of pixels over which a typical contrast is spread.A larger kernel may be used for blurrier images, for example, in the case where the blurr

Related TopicsX X coordinate of the center of the region of interestY Y coordinate of the center of the region of interestDegrees Angle of rotation of

Image Sharpness ResultsThe Image Sharpness Tool outputs read-only results that provide statistical and general infor-mation.Display WindowThe Display

Related TopicsObject DefinitionElapsed Time The Elapsed Time is the total execution time ofthe Image Sharpness Tool. Elapsed Time is not vis-ible in t

InspectionThe Inspection tool sorts instances based on the results of other tools and inspection filters.To create an Inspection tool, right-click in

ConfigurationObject DefinitionOnly Compare Related Results When true, only related results will be comparedagainst each other; otherwise all results a

CategoriesThe purpose of categories is to sort instances based on the filters in each category. Aninstance is put into the first category that it pass

ConfigurationFiltersEach filter has a name and belongs to a category. You cannot add a filter until a category hasbeen added, and either the category

l Measure the distance between two pointsl Measure the distance between a point and a linel Measure the angle between two linesl Test the value of a v

View tabs, see View Tabs on page 46.Move to New ViewCreates a new view tab and thenmoves the selected object editor tothat tab. For more details on us

ConfigurationRun the tool onceRun the tool continuouslyStop the tool from runningReset the average value and iteration countWhen the tool runs, the cu

Inspection Filter Editor, with Maximum Limit ExceededFilters Sub-properties ConfigurationIf you select Test The Value Of A Vision Result Variable as y

ConfigurationSub-property DescriptionWhen you have highlighted the sub-property that you want to test, click theblue right-arrow to select it.AdeptSig

Sub-property SelectedThe fields above the available sub-properties pane will be filled in. Click Accept toaccept your choice and close the window.Resu

Advanced PropertiesObject Definition<filter> [Pass Status] True/False status for this instance with thenamed filterPosition X The X coordinate o

Log ModeLog Mode offers three options:l Log all datal Log pictures for inspections that faill All inspections must failThe pictures only get logged if

Line FinderThe Line Finder identifies linear features on objects and returns the angle of inclination withthe horizontal and coordinates of the end po

ConfigurationConfigurationObject DefinitionPropertiesMinimum Line Percentage Minimum percentage of line contours that need tobe matched for a line hyp

Object DefinitionMaximum Angle Deviation Maximum deviation in angle allowed for a detectededge to be used for generating an entity hypoth-esis.Positio

Editor Window ManagementType the new name and then click OK. The dialog closes and the new name is assigned to the tab.Closing a View TabTo close a ta

Configuring Line Finder PropertiesFinder tools detect edges in the input images, then uses edges to generate a vectorizeddescription called an entity.

Region of Interest (ROI)Rectangle bound that is at maximum negative X offset.l Line With Maximum Positive X Offset: Selects the line hypothesis closes

Location Properties for the Region of InterestGuideline OffsetThe Guideline Offset is the offset from the tool Y-axis. The Guideline marker can be dis

Configuring Line Finder Properties - AdvancedConformity ToleranceConformity Tolerance corresponds to the maximum distance in calibrated units by which

Related Topicsl Adaptive High Sensitivity detects a great amount of low-contrast edges and noise.l Fixed Value sets an absolute value for the sensitiv

Configuring Line Finder Properties on page 471Line Finder Results on page 479Related TopicsAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/

Line Finder ResultsDisplay WindowThe Display window shows the image being processed, the region of interest selected, andthe locations of found instan

Calibration OverviewThe AdeptSight software provides three types of calibration. The calibrations must be per-formed in the following order:l Basic ca

Related TopicsObject DefinitionAngle Angle of the found line. A line is defined as the linepassing through Vector Point X and Vector Point Yat the giv

LocatorNOTE: The Locator tool will not work until you have created a Locator Model for it. Fordetails, see Locator Model on page 499.The Locator ident

ConfigurationLocator Object EditorConfigurationObject DefinitionPropertiesMaximum Instance Count Sets the maximum number of object instancesthat are s

Object DefinitionContrast Polarity Sets the type of polarity accepted for object rec-ognition.Contrast Threshold Sets the minimum contrast needed for

ResultsObject DefinitionShow Model Name When set to true, and Show Results Graphics isenabled, the model name is displayed in the VisionWindow.Timeout

Object DefinitionScale Factor Relative size of the located instance, with respectto its associated model.Symmetry Index of the object instance of whic

Configuring Locator Properties - AdvancedThe Advanced Properties section of the Locator tool interface provides access to advancedLocator parameters a

Configuring Locator Properties - Advancedwith a higher value for the Detail Level.l To obtain high-accuracy object location, it is preferable to use i

Contrast Polarity - Model, Normal, and ReverseNormal And ReverseEnables the Locator to search for all cases that present either Normal orReverse polar

Special Tools OverviewAdeptSight software provides several tools for special applications.SequenceThe Sequence object shows the list of tools that wil

Searchl Higher values reduce sensitivity to contrast. This reduces noise and the amount oflow-contrast edges.l Lower values increase sensitivity and a

Portions of the contour that are not within the Conformity Tolerance range are not con-sidered to be valid. Only the contours within Conformity Tolera

SearchUnchecking the Use Default box allows you to manually set the Conformity Tol-erance value.Range EnabledEnables the use of the manually-set toler

Rotation Range - Minimum to Maximum AngleRotation Considerationsl By default, the range is selected, with a full search range from 180 to -180. Thisme

SearchThe scale of objects to be located can be set at a fixed nominal value, or as a range of scalevalues.The default setting for the scale factor is

l Positioning Level has only a slight impact on the execution speed.l In applications where accuracy is not critical, decreasing the value can provide

Instance Output ConstraintsNote that the initial image is retained in the model; the image is not modified by the opti-mization process.Percentage Of

the image coordinate system. The Reference X and Reference Y coordinates of thepoint are expressed in pixels.l World Distance orders instances accordi

Related Topicsreached (and Timeout is Enabled), the instances already recognized are output by the Loca-tor, and the search is stopped. Timeout can be

Locator ModelLocator Models describe the geometry of an object to be found by the Locator tool.To create a Locator Model, right-click in the Tree stru

Table Of ContentsAdeptSight Overview 15Compatibility 15Documentation Map 16AdeptSight 16Device 17Tool 18Related Topics and Manuals 20Prerequisites21Ha

Safety Conventions and Getting HelpThree levels of safety notation are used in this manual. In descending order of importance,they are:WARNING: If the

ResultsObject DefinitionSearch Region Defines the height and width of the region of inter-est.Origin Offset Defines the position of the model's o

Additional MenusThe Locator Model editor can be opened from the Models window in the Locator by double-clicking the model name.The tool shows the trai

Additional MenusSet the Bounding AreaThe Bounding Area tells the Locator Model where to look for the model. Anything not includedinside the Bounding A

Locator Model, After CroppingSetting Advanced Properties in the Model EditorUse Custom Shading AreaEnabling the Use Custom Shading Area check box allo

Related Topicsfor shading analysis.l Shading Consistency must be enabled to create Models that are based on color. Insuch a case, the shading consiste

Pattern LocatorThe Pattern Locator identifies instances of a pattern occurring within an Image.The Pattern Locator is best suited for applications tha

Pattern LocatorPattern Locator Object EditorWhat is a Pattern?A pattern is defined as grid of pixels having a specific arrangement of grey-level value

PropertiesObject DefinitionPropertiesMatch Threshold Sets the Match Threshold of the Instance found bythe tool (0 to 1).Maximum Instance Count Sets th

Related TopicsObject DefinitionPosition X The X coordinate of the origin of the locatedinstance.Position Y The Y coordinate of the origin of the locat

Configuring Pattern Locator PropertiesMatch ThresholdMatch Threshold sets the minimum match strength required for a pattern to be recognizedas valid.

CalibrationsThis section covers two basic calibrations:l Belt-to-robot calibrationl Camera-to-robot calibrationNOTE:The Basic camera calibration shou

Configuring Pattern Locator PropertiesTo set the Input:1. Execute the tool once to make sure that an input image is available.2. From the Input drop-d

l The pattern model does not have to be created from a pattern that is in the tool regionof interest.l The pattern model can be on any image that cont

Configuring Pattern Locator PropertiesSetting the rotation of the sample patternEditing the PatternOnce the pattern model is created, it is temporaril

Sizing PatternsThe size of the bounding box sets the size of the pattern. The bounding boxshould be just large enough to contain the pattern. The Patt

Configuring Pattern Locator Properties - AdvancedThe Advanced Properties section of the Pattern Locator interface provides access to advancedPattern L

Tool Sampling ParametersObject DefinitionCustomCustom Sampling Step lets you set a samplingstep value other than the default. To select a cus-tom samp

Location Properties for the Region of InterestResults LoggingIf enabled, the results of the tool will be logged to a file.If the extension of the dest

Pattern Locator ResultsDisplay WindowThe Display window shows the image being processed, the region of interest selected, andthe locations of found in

Wizard ScreensWizard ScreensThe AdeptSight Belt Calibration Wizard and AdeptSight Camera Calibration Wizard use similarformats.A sample calibration wi

Related TopicsConfiguring Pattern Locator Properties on page 509Configuring Pattern Locator Properties - Advanced on page 515AdeptSight User's Gu

Point FinderThe Point Finder finds point-like features on objects and returns the coordinates of the foundpoints.To create a Point Finder tool, right-

ConfigurationConfigurationObject DefinitionPropertiesPolarity Mode Selects the type of polarity accepted for finding aline. Polarity identifies the ch

ResultsObject DefinitionInstance Index of the result instance.Frame/Group The frame or group to which the result belongs.Position X The X coordinate o

Configuring Point Finder PropertiesThe Properties section of the Point Finder tool interface provides access to Point Finder param-eters and propertie

Related TopicsOffsetOffset is the center of the ROI, defined by:X X coordinate of the center of the region of interestY Y coordinate of the center of

Configuring Point Finder Properties - AdvancedThe Advanced Properties section of the Point Finder tool interface provides access toadvanced Point Find

Region of Interest (ROI)l Corner: The tool will compute a hypothesis that fits a corner point to interpolated linesfrom connected edges.l Intersection

Location Properties for the Region of InterestGuideline OffsetThe Guideline Offset is the offset from the tool Y-axis. The Guideline marker can be dis

Some of these, particularly Previous, may be greyed-out when that action is not appro-priate. (Many procedures require that you click Cancel and start

Related TopicsSearch ModeSearch Mode sets the mode used by the tool to generate and select a hypoth-esis.The available modes are:l Point Closest To Gu

Remote Vision ToolThe Remote Vision tool lets an application, such as an ACE PackXpert packaging application,run a vision tool on a remote PC.Because

PropertiesPropertiesObject DefinitionPort Number The TCP/IP port used to communicate with theRemote Vision Server.Vision Server IP Address The IP addr

Server.oMultiple Remote Vision Servers can be controlled from the AdeptSight PC (onmultiple remote PCs).Remote Vision System ComponentsBasic Steps for

Basic Steps for Configuring Remote Visionenabling USB dongle.l Vision tools running on a Remote Vision Server can only access cameras physicallyattach

1. Add a Remote Vision tool.A configuration screen will be displayed:Remote Vision Configuration Screen2. In the Port Number field, enter the port num

Basic Steps for Configuring Remote VisionThe results of the remotely-run vision tool will be transmitted from the Remote VisionServer to the AdeptSigh

Application SamplesThe AdeptSight software provides several application samples that can be used to learn aboutthe basic features and functions of the

Selecting the Application Samplel Camera that is downward-mounted on the robot arm or in a fixed position in the work-cellFor the V+ table-mount camer

1. Click the New Sample Application tab.2. Select (highlight) the desired application sample.NOTE:The AdeptSight MicroV+ and Cobra i-Series/e-Vario s

Selecting the Application SampleThe Select an Application Sample dialog opens, as shown in the following figure.Application Sample Selector2. Select a

Selecting the Application Sample3. Click Select.Programming the Application SampleAfter you select the application sample, you are ready for the setup

V+ Table-Mounted SampleAfter you select the application sample, you are ready for the setup and programming of theapplication. A wizard guides you thr

V+ Table-Mounted Sample1. Click the New Sample Application tab.AdeptSight Getting Started Screen2. Select the V+ table-mounted camera application samp

Selecting the V+ Table-mounted Sample3. Click Select.Application Sample WizardAfter you select the application sample, an overview of the sample is di

V+ Table-Mounted SampleThe overview shown in the preceding figure will continue to be displayed as you proceedthrough the wizard. The active section (

This screen will not appear if you started the application sample from the GettingStarted screen.Selecting a New or Existing Robot2. If you chose to s

V+ Table-Mounted Sample3. Select the robot.a. Click the browse icon to display a list of available robots.b. Select the robot you wish to use.c. Click

A green button indicates the signal is enabled. Black indicates disabled.An invalid value will turn the text box yellow.6. If you have a camera object

AdeptSight Belt CalibrationAdeptSight Belt Calibration calibrates a robot to a conveyor belt.This calibration is necessary when the robot will handle

V+ Table-Mounted SampleSetting the Camera PropertiesIf you changed the properties, click Accept.Click Next.10. Set the on-screen dot pitch for your do

Grid CalibrationIf the grid gets populated with yellow and blue squares, the calibration was successful.Click Finish.Refer to Standalone Camera Calibr

V+ Table-Mounted Samplea. Click Power.b. Press the High Power button on the Front Panel (near where the robot ismounted) if it is flashing.The High Po

Teaching the Picture-taking Position14. Teach the Vision Tool.The following figures show the model, origin, and bounding box before and after thisproc

V+ Table-Mounted SampleVision Model Before TeachingAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 554

Vision ModelAfter Teachinga. Move the robot, with the part being used for the model, near the center of thepicture area.b. Click Run to take an image

V+ Table-Mounted Sampled. Move the origin marker to the center of the model.l Drag the origin marker to the center of the model with the mouseorl Clic

a. Move the robot to that position.b. Click Here to record the robot position.c. Click Next.16. Set the Target Region of Interest and start Locator Te

V+ Table-Mounted SampleSample Completed ScreenClick Finish.Load and Run Sample Code1. Load the program into Task 0.a. From the AdeptSight window, open

View > Controller Development Tools > [your controller]b. Click the Task Manager tab in the Controller Development Tools window.See Controller D

RequirementsAdding a Belt ObjectIn the Belt Object Editor:1. Click Add (under Encoders).2. Click Associate. See the following figure.AdeptSight User&a

V+Belt-Camera SampleAfter you select the application sample, you are ready for the setup and programming of theapplication. A wizard guides you throug

V+Belt-Camera Sample1. Click the New Sample Application tab.AdeptSight Getting Started Screen2. Select the V+ belt camera application sample.orFrom th

Selecting the V+ belt camera Application Sample3. Click Select.Application Sample WizardAfter you select the application sample, an overview of the sa

V+Belt-Camera SampleThe overview shown in the preceding figure will continue to be displayed as you proceedthrough the wizard. The active section (Int

This screen will not appear if you started the application sample from the GettingStarted screen.Selecting a New or Existing Robot2. If you chose to s

V+Belt-Camera Samplea. Click the browse icon to display a list of available robots.b. Select the robot you wish to use.c. Click OK.d. Click Next.The w

6. Choose between Existing and New Camera.This screen will not appear if you started the application sample from the GettingStarted screen, or if ther

V+Belt-Camera SampleSetting Camera PropertiesIf you changed the properties, click Accept.Click Next.10. Set the on-screen dot pitch for your dot grid.

Grid CalibrationIf the grid gets populated with yellow and blue squares, the calibration was successful.Click Finish.Refer to Standalone Camera Calibr

Add and Associate Buttons3. Click the controller, to select it.The selected controller will be highlighted.4. Click OK.Next StepsRun the AdeptSight Be

V+Belt-Camera Samplea. Click Power.b. Press the High Power button on the Front Panel (near where the robot ismounted) if it is flashing.The High Power

Vision Model BeforeTeachingV+Belt-Camera SampleAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 571

V+Belt-Camera SampleVision ModelAfter Teachinga. Place the part being used for the model near the center of the work area.b. Click Run to take an ima

l Drag the origin marker to the center of the model with the mouseorl Click EditThe Edit Window is shown in the following figure.Edit Window1. Click C

V+Belt-Camera Samplea. Move the robot to the pick position and pitch.b. Click Here to record the position.c. Click Next.16. Teach the part placement p

Teaching the Upstream Limita. Place a target (part) at the far side of the belt (away from the robot), at theupstream end of the belt.If the robot is

V+Belt-Camera Sample19. Teach the Downstream Limit.a. Without touching the target, move the belt so the target is at the downstreamlimit.Refer to the

Testing the Belt Calibrationa. Place a part on the belt, in the robot's work area.b. Align the robot with the part.c. Click Start Tracking.The ro

V+Belt-Camera SampleA magenta marker should be placed on the part's image.If not, adjust the Region of Interest boundaries to ensure the part is

Target Region of Interest Screen, Showing Current and Three Previous Locations23. The Calibration Points screen is displayed. This indicates that you

Load and Run Sample CodeClick Finish.Load and Run Sample Code1. Load the program into Task 0.a. From the AdeptSight window, open the AdeptSight Contro

V+ Arm- or Fixed-Mounted SampleAfter you select the application sample, you are ready for the setup and programming of theapplication. A wizard guides

V+ Arm- or Fixed-Mounted Sample1. Click the New Sample Application tab.AdeptSight Getting Started Screen2. Select the V+ arm- or fixed-mount camera ap

Selecting the V+ Arm- or Fixed-mount Camera Sample3. Click Select.Application Sample WizardAfter you select the application sample, an overview of the

V+ Arm- or Fixed-Mounted SampleThe overview shown in the preceding figure will continue to be displayed as you proceedthrough the wizard. The active s

This screen will not appear if you started the application sample from the GettingStarted screen.Selecting a New or Existing Robot2. If you chose to s

V+ Arm- or Fixed-Mounted Samplea. Click the browse icon to display a list of available robots.b. Select the robot you wish to use.c. Click OKd. Click

Camera.This screen will not appear if you started the application sample from the GettingStarted screen.7. If you selected New Camera, or if there was

V+ Arm- or Fixed-Mounted SampleSetting the Camera PropertiesIf you changed the properties, click Accept.Click Next.10. Set the on-screen dot pitch for

Grid CalibrationIf the grid gets populated with yellow and blue squares, the calibration was successful.Click Finish.Refer to Standalone Camera Calibr

AdeptSight Belt Calibration Interview WizardThe Belt Calibration Interview Wizard gathers the parameters necessary for you to run theAdeptSight Belt C

V+ Arm- or Fixed-Mounted SampleSelecting the Camera Mounta. Click the circle that describes how your camera is mounted.b. Click Next.12. Turn the robo

Vision Model BeforeTeachingV+ Arm- or Fixed-Mounted SampleAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 591

V+ Arm- or Fixed-Mounted SampleVision ModelAfter Teachinga. Place the part being used for the model near the center of the work area.b. Click Run to

l Drag the origin marker to the center of the model with the mouseorl Click EditThe Edit Window is shown in the following figure.Edit Window1. Click C

V+ Arm- or Fixed-Mounted Samplea. Move the robot to that position.b. Click Here to record the robot position.c. Click Next.16. Set the Target Region o

Sample Completed ScreenLoad and Run Sample Code1. Load the program into Task 0.a. From the AdeptSight window, open the AdeptSight Controller Developme

Related TopicsNOTE:The next step is easier if you dock the Controller Development Toolswindow to the right side of your screen. For details on how to

MicroV+ Fixed-Mount SampleAfter you select the application sample, you are ready for the setup and programming of theapplication. A wizard guides you

MicroV+ Fixed-Mount Sample1. Click the New Sample Application tab.AdeptSight Getting Started Screen2. Select MicroV+ arm- or fixed-mount camera applic

Selecting the MicroV+ Arm- or Fixed-mount Camera3. Click Select.Application Sample WizardAfter you select the application sample, an overview of the s

Related Topics 49Safety Conventions and Getting Help50How Can I Get Help? 50Related Topics and Manuals 50Calibrations 51When do I Calibrate? 51What Or

ProcedureBelt Calibration Welcome ScreenClick Next.l Robot Selection for CalibrationSelect the robot that will be used for this calibration.1. Click o

MicroV+ Fixed-Mount SampleThe overview shown in the preceding figure will continue to be displayed as you proceedthrough the wizard. The active sectio

a. Select the COM port from the drop-down box.Selecting the Cobra COM Portb. Click Next.This implicitly selects the robot to which the COMport is att

MicroV+ Fixed-Mount Samplec. Click OK.d. Click Next.2. Select the end-effector.a. Click the browse icon to display a list of available end-effectors.b

This screen will not appear if you started the application sample from the GettingStarted screen, or if there was no camera in the Workspace.5. If you

MicroV+ Fixed-Mount SampleSetting the Camera Propertiesa. If you changed the properties, click Accept.b. Click Next.8. Set the on-screen dot pitch for

Grid CalibrationIf the grid gets populated with yellow and blue squares, the calibration was successful.Click Finish.Also refer to Standalone Camera C

MicroV+ Fixed-Mount SampleSpecifying the Camera Mounta. Click the circle indicating how the camera is mounted.b. Click Next.10. Turn the robot power O

Vision Model BeforeTeachingMicroV+ Fixed-Mount SampleAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 607

MicroV+ Fixed-Mount SampleVision ModelAfter Teachinga. Place the part being used for the model near the center of the work area.b. Click Run to take

l Drag the origin marker to the center of the model with the mouseorl Click EditThe Edit Window is shown in the following figure.Edit Window1. Click C

Setting the End-effector Signal ValuesGreen indicates an enabled signal. Black indicates a disabled signal. Yellow in a textfield indicates an invalid

MicroV+ Fixed-Mount Samplea. Move the robot to that position.b. Click Here to record the robot position.c. Click Next.14. Set the Target Region of Int

NOTE:The next step is easier if you dock the Controller Development Toolswindow to the right side of your screen. For details on how to do this, seeW

Cobra i-Series Pick-and-Place SampleAfter you select the application sample, you are ready for the setup and programming of theapplication. A wizard g

Cobra i-Series Pick-and-Place Sample1. Click the New Sample Application tab.AdeptSight Getting Started Screen2. Select the Cobra i-Series Pick-and-Pla

Sample OverviewThe overview shown in the preceding figure will continue to be displayed as you proceedthrough the wizard. The active section (Introduc

Cobra i-Series Pick-and-Place SampleSelecting a New or Existing Robot2. Select the COM port.AdeptSight User's Guide, Version 3.2.x, Updated: 8/23

Selecting the COM port for the robot3. Select the robot.a. Click the browse icon to display a list of available robots.b. Select the robot you wish to

Cobra i-Series Pick-and-Place Samplec. Click OKd. Click NextThe wizard records the robot information and opens the next page.4. Select the end-effecto

a. Click the browse icon to display a list of available virtual cameras.b. Select the virtual camera you wish to use.c. Click OK.d. Click Next.The wiz

ProcedureSetting the Camera Propertiesl Launch Grid CalibrationAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 62

Cobra i-Series Pick-and-Place Sample10. Set the on-screen dot pitch for your dot grid.Make sure the camera is focused on the dots.Click Calibrate.Grid

This step will be skipped if the robot is already ON.a. Click Power.b. Press the High Power button on the Front Panel (near where the robot ismounted)

Cobra i-Series Pick-and-Place SampleTeaching the Picture-taking Position14. Teach the Vision Tool.The following figures show the model, origin, and bo

Vision Model Before TeachingCobra i-Series Pick-and-Place SampleAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 623

Cobra i-Series Pick-and-Place SampleVision ModelAfter Teachinga. Move the robot, with the part being used for the model, near the center of thepictur

d. Move the origin marker to the center of the model.l Drag the origin marker to the center of the model with the mouseorl Click EditThe Edit Window i

Cobra i-Series Pick-and-Place Samplea. Move the robot to that position.b. Click Here to record the robot position.c. Click Next.16. Set the Target Reg

Sample Completed ScreenClick Finish.Load and Run Sample Code1. Load the program into Task 0.a. From the AdeptSight window, open the AdeptSight Control

Related TopicsView > Controller Development Tools > [your controller]b. Click the Task Manager tab in the Controller Development Tools window.Se

Vision BasicsThe Vision Basics topics present a brief background of concepts that are needed when obtain-ing an image for use in a Adept system.Camera

Launching the Grid CalibrationYou will need a grid of dots for this calibration. Refer to Standalone Camera Calibrationon page 207.l Select the encode

Fixed-Mount CameraFor all vision applications, the camera mounting must be rigid. For fixed-mount cameras, it isimportant that the mounting structure

Arm-Mounted CameraArm-mounted cameras can have the following issues:l The camera moves, so it is exposed to vibration, which can create mechanical iss

Vision Basics - Resolutionrelates the size of the field of view, the distance from the lens to the focal plane, andthe lens size (e.g., 25 mm, 35 mm,

Resolution FactorsFocal LengthThe following formulas are useful for selecting a camera lens. The optimum lens focal lengthdepends on the desired measu

Focal Lengththe lens focal length. The size of the camera imaging element determines a scaling factor tobe applied to this relationship. The relations

Camera Scale FactorThe following table provides the camera scale factors for the Basler brand cameras that canbe used with the AdeptSight software.Bas

Focal LengthCameraScaleFactorA601f/A601fc 6.49A602f/A602fc 6.49A622f 8.58A631f/A631fc 6.47A641f/A641fc 7.15Scout SeriesscA1000-30gm/scA1000-30gc 4.81s

Formula for ResolutionThe formula for resolution is:r H P= ( ÷ )where:r = resolution (height of one pixel)H = height of field-of-view (same units as r

Vision Basics - Mode2. Calculate the lens focal length at the minimum distance:f = 4.8(60 ÷ 19.2) = 153. Calculate the lens focal length at the maximu

A Greyscale ImageIn addition to greyscale processing, AdeptSight can process image data in binary mode. Inbi-nary mode, all the cells with a value abo

Next StepNext StepYou can now run the AdeptSight Belt Calibration Wizard. For details, see AdeptSight Belt Cal-ibration Wizard on page 65.Related Topi

Binary vs. GreyscaleDepending on the tool and operation you select, AdeptSight processes either in binary modeor greyscale mode. The processing mode i

Binary Representation of Sample MatrixThere are actually two threshold values that can be used together to isolate a range of inten-sity values. When

Binary vs. GreyscaleGreyscale Representation of Sample MatrixThe algorithm that AdeptSight uses when looking at the three-by-three neighborhood of pix

Gain and Black Level should be adjusted after the camera Exposure has been set for max-imum contrast.Vision Basics - Camera Calibration and LightingCa

LightingType Advantages DisadvantagesHe-Ne Laser Highly collimated, infinite depth offieldFragile, expensive, bulkyIR & LaserDiodesNot regulated L

StrobeStrobe lighting is required when the speed of moving objects exceeds one pixel every 17 mil-liseconds. Strobes cast harsh shadows, but can be di

AdeptSight Belt Calibration WizardAfter the AdeptSight Belt Calibration Interview Wizard completes, it opens the Object editorfor the AdeptSight Belt

ProcedureRequirementsl The robot and belt must be correctly connected and functioning.l The AdeptSight Belt Calibration Interview Wizard must have com

Testing the Encoder OperationYou can click On/Off to move the belt. You need to have set the I/O values in the Inter-view Wizard.ProcedureAdeptSight U

Procedurel Teach Upstream Limit (#1 in the following figure)Upstream, Downstream, and Downstream Pick LimitsUpstream limit is the farthest point, towa

1. Place the target on the belt at the upstream limit, away from the robot(widthwise on the belt).If the robot is mounted above the belt, and is cente

How It Works 184Requirements for Using the Communication Tool 185Order of the Communication Tool in a Vision Sequence 185Multiple Communication Tools

Testing the Calibration4. Advance the belt.The robot should track the part on the belt.Testing the CalibrationThe test procedure repeats the test perf

AdeptSight Camera Calibration Wizard - Manual, no Belt on page 131AdeptSight Camera Calibration Wizard - Manual with Belt on page 141AdeptSight Camera

AdeptSight Camera CalibrationAdeptSight Camera Calibration calibrates a robot to a camera. This calibration is necessary ifyou will be using vision wi

AdeptSight Camera Calibration Interview WizardThe AdeptSight Camera Calibration Interview Wizard acquires the data necessary to gen-erate the correct

AdeptSight Camera Calibration Interview WizardList of Wizard TasksThe screens in this procedure are:l Welcome to the Calibration Interview WizardCamer

l Robot Selection for CalibrationSelect the robot that will be used for this calibration.1. Click on the browse icon to display a list of available ro

AdeptSight Camera Calibration Interview Wizard2. Select the camera that you wish to use.3. Click OK.4. Click Next.l Choose Interview ModeSpecify eithe

l Specify End-Effector Typel Is the Robot Free to Move?oRobot can move freely in workspaceNOTE:This will run the calibration in Automated mode.oThere

Region of Interest 229Locator and Finder Tools 229Image Processing Tools 230Inspection Tools 230Filter Tools 231Calculation Tools 232Other Tools 232Re

AdeptSight Camera Calibration Interview WizardIf you chose to select the calibration options from a list, you will be presented a screen similarto the

considered.6. Specify whether the tool should rotate during calibration.l Interview CompletedThere are a number of fields that are not covered in the

AdeptSight Camera Calibration Interview WizardRobot IndexThe robot index is passed through the "resultIndex" parameter in the V+ AdeptSight

AdeptSight Camera Calibration Wizard - Manual, Upward-looking on page 167AdeptSight Camera Calibration Wizard - Manual, Arm-Mount on page 153AdeptSigh

AdeptSight Camera Calibration Wizard - Automated, no BeltThis topic covers calibrating an arm- or fixed-mounted camera to a robot, without a conveyorb

AdeptSight Camera Calibration Wizard - Automated, no Beltl Select the End-Effectorl Move the Robot to the Picture Position1. Move the robot out of the

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full

AdeptSight Camera Calibration Wizard - Automated, no BeltEdit WindowAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Page 88

l Take a Picture of the Calibration TargetLocated Calibration Target1. Adjust the bounding box to the work area. This must include the calibration tar

Arc Finder Results 291Display Window 291Related Topics 292Blob Analyzer293Image Segmentation 293Histogram 294Thresholding 294Configuration 295Results

AdeptSight Camera Calibration Wizard - Automated, no Beltl Start Automated Calibration1. Close the Pendant window by clicking Cancel.2. Click Start.Th

You may need to manually release the gripper at the end of this procedure.Test ProcedureThe screens in this procedure are:l Select End-Effector TipThi

AdeptSight Camera Calibration Wizard - Automated, no BeltVision Model BeforeTeachingAdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012Pa

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full

AdeptSight Camera Calibration Wizard - Automated, no BeltEdit Windowl Locating the TargetSee the figure Located Calibration Target.1. Adjust the bound

Related TopicsCalibrations on page 51AdeptSight Camera Calibration on page 73AdeptSight Camera Calibration Interview Wizard on page 75AdeptSight Camer

AdeptSight Camera Calibration Wizard - Automated, with BeltThis topic covers calibrating an arm- or fixed-mounted camera to a robot, with a conveyorbe

AdeptSight Camera Calibration Wizard - Automated, with Beltl Select the End-Effectorl Teach the Vision ToolThe following figures show the model, origi

Vision ModelAfter Teaching1. Place the target near the center of the work area.2. Click Run to take an image.3. Adjust the model bounding box to full