iRVISION UTILITIES SCREEN


iRVISION UTILITIES SCREEN

The iRVision Utilities Screen provides access to iRVision utilities which are accessible from the iPendant.

1. Robot-Generated Grid Calibration

Robot-generated grid calibration is used for calibrating the camera for fields of view that are too wide for a standard calibration grid. A target attached to the robot hand is used to calibrate the camera by generating a dot pattern that moves in a virtual grid in the view of the camera.

Note: Robot-generated grid calibration is only available for six-axis robots.

Note: Robot-generated grid calibration is not available when the Vision Expansion Board is used.

Table 1. 

Menu Item Description
Calibration Data Displays the name of the selected Calibration Data. When the cursor is on this line, press F4 [CHOICE] to display a list of available Calibration Data.Press F3 [DETAIL] to see details of the selected Camera Calibration.
Target Position Displays whether the target position has been set.When the cursor is on this line, press F3 [DETAIL] to display the location of the target.Press SHIFT-F5 [RUN] to determine the target position.
Program Generation Creates a TP program to perform the robot-generated grid calibration. Press SHIFT-F5 [RUN] to generate the TP program.
F2 [DISP_IMG] Press this key to display the runtime image.


2. Automatic Vision Grid Frame Set

This screen runs the Automatic Vision Grid Frame Set operation.

Table 2. 

Menu Item Description
Set UFrame or UTool? Selects whether to set a User Frame or a User Tool.With the cursor on this line, press F4 [UTOOL] to select User Tool or F5 [UFRAME] to select User Frame.
User Frame (Tool) Number to set Selects the number of the User Frame (or User Tool).
Camera User Tool Number Sets the User Tool number associated with the camera.
Camera Name Selects the name of the Camera Tool to use.With the cursor on this line, press F4 [CHOICE] to display and select from the available Camera Tools.
Exposure Time Specifies the exposure time to use for image capture, in milliseconds.
Grid Spacing Specifies the grid spacing of the calibration grid being used, in millimeters.
Start Position Sets the robot position to use when starting the calibration.With the cursor on this line, jog the robot and press SHIFT-F4 [RECORD] to record a new start position.
Yaw Angle Limit Sets the limit for yaw (W) angle for use during calibration.
Pitch Angle Limit Sets the limit for pitch (P) angle for use during calibration.
Roll Angle Limit Sets the limit for roll (R) angle for use during calibration.
F2 [DISP IMG] Press this key to display the runtime image.
F3 [LIVE] Press this key to display the live camera feed.


3. Vision Log Menu

The Vision Log Menu Screen lets you perform maintenance functions on the iRVision log files.

Table 3. 

Menu Item Description
F2 [IMP/EXP] Import an XML-formatted iRVision log file.
F3 [EXPORT] Exports an iRVision log file to XML format.Move the cursor to the log file to be exported, then press F3 [EXPORT].
F4 [DELETE] Deletes a selected iRVision log file. You are required to confirm the delete before the file is deleted.
F5 [REFRESH] Refreshes the list of iRVision log files.
NEXT — F2 [ALL EXP] Exports all listed iRVision log files.
NEXT — F3 [ALL DEL] Deletes all listed iRVision log files. You are required to confirm the delete operation before the files are deleted.
NEXT — F4 [DEVICE] Sets the device and path where exported iRVision log files are written.