Table of Contents
7.8 Change Order of Sequence Steps .................................................... 228
7.9 Running Vision Sequences ............................................................... 229
7.10 Testing and Debugging a Vision Sequence..................................... 231
7.11 Running Vision Sequences from SPEL+ ......................................... 233
7.12 Image Acquisition ............................................................................ 234
8. Calibration 237
8.1 Overview ........................................................................................... 237
8.2 Calibration Definition ......................................................................... 238
8.3 Camera Orientations ......................................................................... 239
8.4 Reference Points............................................................................... 240
8.4.1 Mobile calibration reference points ....................................... 240
8.4.2 Fixed Downward and Standalone camera reference points.. 241
8.4.3 Teaching reference points..................................................... 241
8.5 Creating Vision Sequences for Calibration........................................ 242
8.5.1 Mobile and Fixed Upward Calibration Vision Sequences...... 242
8.5.2 Fixed Downward and Standalone Calibration Vision
sequences ............................................................................. 243
8.6 Calibration GUI.................................................................................. 244
8.6.1 Create a New Calibration...................................................... 244
8.6.2 Delete a Calibration .............................................................. 244
8.6.3 Calibration Properties and Results........................................ 245
8.6.4 Teach Points Button .............................................................. 246
8.6.5 Calibrate Button .................................................................... 246
8.6.6 Teach Calibration Points Dialog ............................................ 247
8.6.7 Calibration Complete dialog.................................................. 249
8.7 Calibration Procedures...................................................................... 251
8.7.1 Calibration Procedure: Mobile............................................... 251
8.7.2 Calibration Procedure: Fixed Downward............................... 253
8.7.3 Calibration procedure: Fixed upward .................................... 254
8.7.4 Calibration Procedure: Standalone ....................................... 255
9. Using Vision Guide in SPEL+ 256
9.1 Overview ........................................................................................... 256
9.2 Vision Guide SPEL+ Commands ...................................................... 256
9.3 Running Vision Sequences from SPEL+: VRun ................................ 257
9.4 Accessing Properties and Results in SPEL+: VGet, VSet ................. 258
9.4.1 Using VGet ........................................................................... 259
9.4.2 Using VSet............................................................................ 259
9.5 Using Variables for Sequence and Object Names............................. 260
9.6 Using Sequence Results in SPEL+ ................................................... 261
9.7 Accessing Multiple Results from the SPEL+ Language..................... 261
9.8 Using Vision Commands with Multitasking........................................ 262
9.9 Using Vision with the Robot ............................................................. 263
9.9.1 Position results...................................................................... 263
x Vision Guide 6.0 Rev.5