Hanwha HCR-5, Руководство пользователя

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Chapter 12 Device Settings
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
Vision Test
: Test vision with the set values.

Set Points
: It matches the number of guide image and is activated by clicking the
number. The initial value is ‘0’. At each number, enter the robot coordinate values
and the coordinates of the vision system at that point
. Range :
-10000~10000(Pixel)

Rotation Direction Setting
: Sets the rotation direction of the object recognized
by the vision.
Note When attaching the vision to the robot arm, attach the upper left /
upper right / lower right directions shown on the setup screen so that
they match the directions shown in the vision software.
Understanding rotation offsets
When a vision equipment scans an object, the angle of shifted position for an object is
used the reference for a vision equipment. Thus, the angle data of object that a vision
equipment sends to the robot is obtained from the perspectives of vision equipment.
Now, if the robot does not know the angle between the scanning location and the its
position (rotation offset), then the robot will assess the scanned angle data from its own
perspectives and use a gripper accordingly, thus making it hard to pick up an object
accurately.
As shown below, if the scanning location is same as the basic TCP location of robot (A)
all it has to do is to rotate the gripper angle by as much as the angle of scanned object.
However, if the scanning location is shifted by X degrees from the robot base, then
when an object is scanned, although a vision equipment detects the angle of object as
same as from the location (A), its gripper will have to rotate by X degrees to pick it up.
In other words, from the robot's perspectives, it is same as if an object is shifted by X
degrees, so, a rotation offset is required to compensate for the angle of object sent from
a vision equipment.
A. When the scanning location and the robot's location are on the same line