After the robot positions have been taught to a workpiece in its reference position, perform the following steps to execute the vision offset with iRVision.
Step1:Create camera data
After the camera is connected to the controller, set up the camera's parameters, including calibration in iRVision's Camera Data setup page.
This step is necessary only when setting up the camera the first time.
Skip this step if the camera has already been set up.
Step2:Create vision process
Create a vision process.
Select the proper camera data to snap images from the camera and teach the image processing tools to locate the workpiece.
Typically each type of workpiece will have its own vision process.
Step3:Call the vision process in the robot TP program
Add the instructions to the robot TP program so that it executes the vision process, receives a vision offset, and offset the robot motion with the vision offset.