Vision Sensor FH series Operation Manual Sysmac Studio

Vision Sensor FH series Operation Manual Sysmac Studio
Roboti cs packagi ng l ine soluti on
Vision Sensor FH series
Operation Manual Sysmac Studio
Conveyor Tracking
Calibration Wizard Tool
FH-1□□□
FH-3□□□
SYSMAC-SE20□□
SYSMAC-RA401L
NJ501-4□□□
R88D-KN□-ECT
Z370-E1-01
NOTE
• All rights reserved. No part of this publication may be reproduced, stored in
a retrieval system, or transmitted, in any form, or by any means, mechanical,
Xelectronic, photocopying, recording, or otherwise, without the prior written
permission of OMRON.
• No patent liability is assumed with respect to the use of the information
contained herein. Moreover, because OMRON is constantly striving to improve
its high-quality products, the information contained in this manual is subject
to change without notice. Every precaution has been taken in the preparation of
this manual. Nevertheless, OMRON assumes no responsibility for errors or omis
sions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation
in Japan and other countries for OMRON factory automation products.
• This software is based in part on the work of the Independent JPEG Group.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trade-
marks or trademarks of Microsoft Corporation in the United States and other countries.
• Intel, Core and Pentium are trademarks of Intel Corporation in the U.S. and/or other
countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
• QR Code is a registered trademark of DENSO WAVE INCORPORATED.
• MELSEC is a registered trademarks of Mitsubishi Electric Corporation.
Other company names and product names in this document are the trademarks
or registered trademarks of their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Index
1.
Introduction .................................................................................................................. 5
1.1. Introduction ...................................................................................................................... 5
1.2. Conventions Used in This Manual ................................................................................... 5
1.3. Terms and Conditions Agreement ................................................................................... 6
1.3.1. Warranty, Limatations of Liability ............................................................................ 6
1.3.2.
Application Considerations ..................................................................................... 7
1.3.3. Disclaimers ............................................................................................................. 7
1.4. Meanings of Signal Words............................................................................................... 8
1.5. Precausions for Safe Use ................................................................................................ 8
1.6. Precausions for Correct Use ........................................................................................... 8
1.7. Regulations and Standards ............................................................................................. 8
1.8. Related Manuals .............................................................................................................. 8
2.
About Conveyor Tracking Calibration Wizard ........................................................ 11
2.1. Overview ........................................................................................................................ 11
2.2. Target Readers and Expected Skill Level ..................................................................... 12
2.3. Terminology ................................................................................................................... 12
2.4. Restrictions and Precautions ......................................................................................... 14
3.
Using the Tool ............................................................................................................ 15
3.1. Setup Procedure and User Interface of Conveyor Tracking Calibration Wizard........... 15
3.2. Starting Conveyor Tracking Calibration Wizard ............................................................ 18
3.3. Creating a Scene to Perform Calibration ...................................................................... 20
3.4. Selecting the Type and Other Conditions of Calibration ............................................... 22
3.5. Adjusting Settings to Measure Marks ............................................................................ 32
3.6. Measuring Location of Marks ........................................................................................ 44
3.7. Selecting Marks to Use for Calibration Parameter Calculation ..................................... 50
3.8. Moving the Calibration Plate into the Tracking Area ..................................................... 54
3.9. Performing Set Point (Teaching) to Marks Using the Calibration Plate ........................ 57
3.10. Performing Calibration ................................................................................................... 63
3.11. Measurement results can be output (Conveyor Tracking Calibration Wizard
Tool) ............................................................................................................................... 65
3.12. External Reference Table (Conveyor Tracking Calibration Wizard Tool) ...................... 66
3
Revision History
Revision Symbol
Revision Date
01
December 1, 2015
Reason for Revision and Revised Page
First edition
4
1. Introduction
1.1. Introduction
Thank you for purchasing FH/FZ5 Series product.
This manual provides information regarding functions, performance and operating methods that
are required for using FH/FZ5 Series product. When using FH/FZ5 Series product, be sure to observe the following:
• FH/FZ5 Series product must be operated by personnel knowledgeable in electrical engi-neering.
• To ensure correct use, please read this manual thoroughly to deepen your understanding of the
product.
• Please keep this manual in a safe place so that it can be referred to whenever necessary.
This Manual does not contain safety information and other details that are required for actual use
of a FH/FZ5 Series Controller. Thoroughly read and understand the manuals for all of the devices
that are used in this Manual to ensure that the system is used safely. Review the entire contents of
these materials, including all safety precautions, precautions for safe use, and precautions for
correct use.
Any part or whole of this operation manual may not be copied, reproduced, or reprinted without
permission.
The contents of this manual, including product specifications, are subject to change based on improvements of the product without prior notice. Your understanding is appreciated
We are committed to providing precise information. Should you have any questions or con-cerns
regarding the contents of this document, please do not hesitate to contact us. When you contact us,
please be sure to provide us with the Catalog number printed on the back cover.
1.2. Conventions Used in This Manual
Symbols in this manual are used as follows:
Safety Information
Things that should be done or avoided to safely use the product.
Precautions for Use
Things that should be done or avoided to prevent malfunction or other negative effects to the
product.
Useful Information
Things that may apply to certain situations. Information and tips that help you use the product
5
seamlessly. This information is provided to increase understanding or make operation easier.
Reference
Location of detailed or related information.
1.3. Terms and Conditions Agreement
1.3.1.

Warranty, Limatations of Liability
Warranties
● Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and
workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
● Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED,
ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF
THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any intellectual property right.
● Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form
originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit
Buyer an amount equal to the purchase price of the non-complying Product; provided that in
no event shall Omron be responsible for warranty, repair, indemnity or any other claims or
expenses regarding the Products unless Omron’s analysis confirms that the Products were
properly handled, stored, installed and maintained and not subject to contamination, abuse,
misuse or inappropriate modification. Return of any Products by Buyer must be approved in
writing by Omron before shipment. Omron Companies shall not be liable for the suitability or
unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be
construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published infor6
mation.

Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL,
OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM
IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the
Product on which liability is asserted.
1.3.2.

Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the
Product. At Buyer’s request, Omron will provide applicable third party certification documents
identifying ratings and limitations of use which apply to the Product. This information by itself
is not sufficient for a complete determination of the suitability of the Product in combination
with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s
application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE
OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY
RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT
OR SYSTEM.

Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable
Product, or any consequence thereof.
1.3.3.
Disclaimers
 Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application
requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
7
 Change in Specifications
Product specifications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some
specifications of the Product may be changed without any notice. When in doubt, special part
numbers may be assigned to fix or establish key specifications for your application. Please
consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.
 Error and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or
omissions.
1.4. Meanings of Signal Words
For details on Meanings of Signal Words, refer to Meanings of Signal Words in Vision System
FH/FZ5 Series User's Manual (Cat. No. Z340-E1-08 or later).
1.5. Precausions for Safe Use
For details on Precautions for Safe Use, refer to Precautions for Safe Use in Vision System
FH/FZ5 Series User's Manual (Cat. No. Z340-E1-08 or later).
1.6. Precausions for Correct Use
For details on Precautions for Correct Use, refer to Precautions for Correct Use in Vision
System FH/FZ5 Series User's Manual (Cat. No. Z340-E1-08 or later).
1.7. Regulations and Standards
For details on Regulations and Standards, refer to Regulations and Standarrds in Vision
System FH/FZ5 Series User's Manual (Cat. No. Z340-E1-08 or later).
1.8. Related Manuals
The following manuals are also helpful when using Conveyor Tracking Calibration Wizard. Use
these manuals for reference.
Cat. No.
Manual name
Content
Application
8
Vision System
Z340-E1
Describes how to configure
To learn how to con-
FH/FZ5 Series
settings on the sensor controller
figure FH/FZ5 Series
User's Manual
of FH/FZ5 Series Vision Sen-
Vision Sensors.
sors.
Vision System
Z341-E1
Describes how to configure
To learn how to con-
FH/FZ5 Series
settings for processing items for
figure settings for
Processing Item Function
FH/FZ5 Series Vision Sensors.
processing items for
Reference Manual
FH/FZ5 Series Vision
Sensors.
Z342-E1
Vision System
Describes how to configure
To learn how to con-
FH/FZ5 Series
communication settings on the
figure communication
User's Manual
sensor controller of FH/FZ5 Se-
settings for FH/FZ5
(Communications Settings)
ries Vision Sensors.
Series Vision Sensors.
Vision System
Z343-E1
Describes how to configure FH
To learn how to con-
FH Series
Series Sensor Controllers on
figure FH Series
Operation Manual
Sysmac Studio.
Sensor Controllers.
Sysmac Studio
Sysmac Studio
W504-E1
Version 1
Describes the operation of
Sysmac Studio.
Operation Manual
Vision Sensor
Z369-E1
To learn the operation and functions of
Sysmac Studio.
Describes how to configure
To learn the setup
FH Series
and operate Calibration Plate
procedure for printing
Operation Manual
Print Tool on Sysmac Studio on
the Pattern on a Cal-
Sysmac Studio
FH Sensor Controllers.
ibration Plate used for
Calibration Plate Print Tool
calibration for cameras and robots on
Sysmac Studio.
Vision Sensor
Z370-E1
Describes how to configure
To learn the setup
FH Series
and operate Conveyor Tracking
procedure of the wiz-
Operation Manual
Calibration Wizard on Sysmac
ard style calibration
Sysmac Studio
Studio on FH Sensor Control-
for cameras, robots,
Conveyor Tracking Calibra-
lers.
or conveyors.
tion Wizard Tool
(This manual)
Vision Sensor
Z371-E1
Describes how to configure
To learn the setup
FH Series
and operate the Conveyor Pan-
procedure of pano-
Operation Manual
orama Display tool on Sysmac
rama display for im-
Sysmac Studio
Studio on FH Sensor Control-
age capture of targets
Conveyor Panorama Dis-
lers.
on conveyors.
play Tool
9
Vision Sensor
Z368-E1
Describes the setting proce-
To learn the setting
FH Series
dure of sample senses or sam-
procedure of sample
Conveyor Tracking Appli-
ple macros used for applications
senses or sample
cation Programming
of conveyor tracking on FH
macros for conveyor
Guide
Sensor Controllers.
tracking.
10
2. About Conveyor Tracking Calibration Wizard
2.1. Overview
Conveyor Tracking Calibration Wizard is a wizard-style calibration tool for reciprocally converting
different coordinate systems between vision sensors, conveyors, and robots. This calibration uses
processing items of FH Sensor Controller.
This tool calibrates the machine coordinate system (MCS) for picking robots, and the camera
coordinate system for vision sensors.
If there are more than one MCS, follow the below procedure.
1. Calibrate an MCS with the camera coordinate system.
2. Calibrate a previously calibrated MCS with another MCS.
To use Conveyor Tracking Calibration Wizard, a Calibration Plate is needed. Create a Calibration
Plate according to the camera field of view (FOV) and conveyor using the Calibration Plate Print
Tool. For more information, refer to the Operation Manual Sysmac Studio Calibration Plate Print
Tool.
11
Useful Information
To perform calibration without using Conveyor Tracking Calibration Wizard, refer to the Conveyor
Tracking Application Sample Scene and Sample Macro User's Guide, and create scenes and
ladder program.
2.2. Target Readers and Expected Skill Level
Target readers of this manual include developers of visual conveyor tracking systems, and engineers and programmers who support end users of visual conveyor tracking systems.
2.3. Terminology
Term
Conveyor Tracking
Explanation
A function that enables a robot to track targets moving on a
conveyor. Transfer of targets from/to moving conveyors is
enabled by combining the conveyor tracking function and the
Pick and Place function.
Visual Conveyor Tracking
A conveyor tracking system for production lines that use vision sensors.
Calibration
A process that generates parameters to reciprocally convert
coordinates that differ from the camera coordinate system.
Conveyor Tracking Calibration
Collective term for calibrations for conveyor tracking operation. Conveyor tracking calibration includes camera calibration such as lens distortion correction, camera-robot calibration, and robot-conveyor calibration.
On the user interface, it is called conveyor calibration to
meet the character count limit.
Calibration Plate
A plate-shaped reference jig with a calibration pattern
printed that is used with Conveyor Tracking Calibration Wizard.
Pick-side Conveyor
Conveyor on which target objects of Pick and Place move.
Camera Coordinate System
A 2D coordinate system used by vision sensors.
Its origin point is the upper left corner of the captured image.
From there, the horizontal line is determined to be the x
axis, and the vertical line is determined to be the y axis. The
unit of measure: pixel.
12
Conveyor Coordinate System
A coordinate system for conveyors set per tracking area,
and is used to adjust the angle of the conveyor with respect
to the machine coordinate system (MCS) of the conveyor. It
is set as User Coordinate System (UCS).
Machine Coordinate System
(MCS)
A coordinate system used by robots controlled by FH Sensor Controller. It is set as machine coordinate system (MCS).
The unit of measure: mm.
Robot
Robot which picks and places target objects for conveyor
tracking.
Set Point
Operations to have a robot touch the target object to make
the robot learn and input its position information.
During conveyor tracking calibration between the camera
and robot, the Calibration Plate is moved into the tracking
area, and a robot performs Set Point to specified Marks.
Tracking Area
An area where robots can pick and place target objects.
It is the overlapped area of the conveyor and the workspace
of the robot. The entry border of the area is called Track Start
Line, and the exit border is called Track Finish Line, and the
tracking area is the space in between two lines.
Track Start Line
It is a virtual entry border to the tracking area, over which
objects will be targets of the robot's Pick and Place operation.
Track Finish Line
It is a virtual exit border from the tracking area, over which
objects will no longer be targets of the robot's Pick and Place
operation.
13
2.4. Restrictions and Precautions
Item
Precautions when launching
Explanation
To perform conveyor tracking calibration, the FH
Conveyor Tracking Calibration
Sensor Controller must have a Scene that includes the
Wizard
following processing items.
0: Camera Image Input
1: Precise Calibration
2: Conveyor Tracking Calibration
Restrictions on encoder value
 The encoder value must be between 0 to
2147483647.
 Once reaching its maximum value (2147483647),
the encoder value returns to 0 (ring count).
14
3. Using the Tool
3.1. Setup Procedure and User Interface of Conveyor Tracking Calibration Wizard
The setup procedure of Conveyor Tracking Calibration Wizard is as follows. After launching
Conveyor Tracking Calibration Wizard:
1. Create a Scene to perform calibration.
2. Select the type and other conditions of calibration.
3. Adjust settings to measure Marks.
4. Inspect the location of Mark.
5. Select Marks to use for calibration parameter calculation.
6. Move the Calibration Plate towards the Track Start Line side in the tracking area.
7. Perform Set Point (teaching) to Marks on the Calibration Plate.
8. Move the Calibration Plate towards the Track Finish Line side in the tracking area.
9. Perform Set Point (teaching) to Marks on the Calibration Plate.
10. Perform calibration.
Step
Creating a Scene
to perform calibration
Selecting the type and other
conditions of calibration
Adjusting settings
to measure marks
Explanation
Create a Scene to perform calibration using Conveyor
Tracking Calibration Wizard.
Select task(s) you want to perform by Conveyor
Tracking Calibration Wizard.
Adjust parameters for the camera with the Calibration
Plate placed in the FOV.
Measuring location of Marks
Measure the location of Marks on the Calibration Plate.
Selecting Marks to use for
Set the encoder value for image capture and also
calibration parameter
point(s) to which Set Point will be performed using cap-
calculation
tured images.
Moving the Calibration Plate
towards the Track Start Line
Move the Calibration Plate towards the Track Start Line
side in the tracking area.
side in the tracking area
Perform Set Point (teaching) to
Marks on the Calibration Plate.
Perform Set Point to the Marks measured or specified
by the encoder value.
15
Moving the Calibration Plate
towards the Track Finish Line
Move the Calibration Plate towards the Track Finish
Line side in the tracking area.
side in the tracking area
Performing calibration
The following figure shows the user interface of Conveyor Tracking Calibration Wizard.
Operation area
Progress window
Page buttons
16
UI elements
Progress window
Explanation
An area to show the progress of the wizard. The upper part indicates
the progress of primary steps, and the lower part shows the progress
of sub steps.
Progress of primary steps
Progress of sub steps
In the above figure, the second primary step (Camera Coordinate
Settings) is being processed. Two white arrow symbols before and
after the sub step window indicate that there are total of five sub
steps, and the third sub step (camera coordinate) is currently being
processed.
Operation area
Area where settings, image display, and other wizard operations are
performed. For more details about this area, refer to the next section.
17
Page buttons
Buttons to control pages of the wizard.
When you click...

Cancel: The FH warning dialog shown below will appear.
On the FH warning dialog, if you click OK, all the settings adjusted
by Conveyor Tracking Calibration Wizard will be discarded and the
procedure goes back to the primary step 1. If you click Cancel, the
dialog will disappear.


< Back: You will go back to the previous step.
Next >: You will go to the next step.
3.2. Starting Conveyor Tracking Calibration Wizard
Launch Conveyor Tracking Calibration Wizard from the FH Sensor Controller you are using.
1. On the main window of FH Sensor Controller, select Tool under Multiview Explorer.
Available tools will be displayed. Double click Calibration Wizard for Conveyer Tracking.
18
19
3.3. Creating a Scene to Perform Calibration
To launch Conveyor Tracking Calibration Wizard, an exclusive Scene needs to be created on FH
Sensor Controller. This process corresponds to the step 1 in 4.1. Setup Procedure and User Interface of Conveyor Tracking Calibration Wizard.
1. Double click Calibration Wizard for Conveyer Tracking.
A warning dialog will appear if there are not processing items for conveyor tracking calibration in
the current Scene. See 2.
If there are processing items for conveyor tracking calibration, Conveyor Tracking Calibration
Wizard will start. See 4.
2. A warning dialog will appear.
If you click OK in the warning dialog, the Scene automatically will be initialized to a Scene for
conveyor tracking calibration. Conveyor Tracking Calibration Wizard will start. See 4.
20
3. If you click Cancel on the warning dialog, the Scene will not be switched.
The Calibration Wizard for Conveyer Tracking tab will open.
Click the close button (x) to exit.
4.
If the exclusive Scene is currently selected when Calibration Wizard for Conveyer Tracking
is double-clicked, Conveyor Tracking Calibration Wizard will launch.
The Conveyor Tracking Calibration Wizard tab will open, and the [Start] [Execute Content]
page will be displayed.
21
Useful Information
The minimum configuration of a Scene for conveyor tracking calibration is as follows:
0: Camera Image Input
1: Precise Calibration
2: Conveyor Tracking Calibration
You can also add a preprocessor-type processing item after Unit 0 to stabilize the performance of
the Precise Calibration processing item.
Refer to 3. Compensate image in the Vision System Processing Item Function Reference Manual (Cat. No. Z341-E1).
3.4. Selecting the Type and Other Conditions of Calibration
Select task(s) you want to perform by Conveyor Tracking Calibration Wizard.
This process corresponds to the step 2 in 4.1. Setup Procedure and User Interface of Conveyor
Tracking Calibration Wizard.
1. When Conveyor Tracking Calibration Wizard is launched, the [Start] [Execute Content]
page opens.
22
2.
The name of the Scene with which Conveyor Tracking Calibration Wizard started is displayed
in the Scene Name box. To rename the Scene, directly enter a new name into the box.
Parameter
Scene Name
Value
Explanation
[Factory Default]
 [Scene 0]
The name of the exclusive Scene for conveyor
tracking calibration.
To rename, enter the new name that consists of
0 to 15 characters.
3.
The procedure for creating calibration parameters in the wizard is different from that for
manual entry of calibration parameters.
To proceed with the wizard-style operation, see 4.
To proceed with the manual entry of calibration parameters, after clicking the Edit bottom the
Edit parameter(s) option. For details, see 12.
23
4. Select Batch Sampling or Specify Point under New, and then click Next >.
Parameter
New
Value
[Factory Default]
 [Batch Sampling]
 Specify Point
Explanation
Select an option from radio buttons to create
calibration parameters from scratch.
Basically, select Batch Sampling when you use
the Calibration Plate, and select Specify
Point(s) when you do not.
・Batch Sampling:
Performs sampling using the Calibration
Plate to find calibration parameters.
・Specify Point(s):
Determines calibration parameters using user-specified points.
Edit
 Edit Parameter
Select this option when entering or editing previously calculated calibration parameters.
24
5. A page where you can set up calibration parameters ([Start] [Condition Settings] page)
will be displayed.
6. Select an option under HDR Setting.
Parameter
Value
[Factory Default]
Explanation
25
HDR Setting
・[Disable]
HDR is a function to capture a series of im-
・[Enable]
ages with varying shutter speeds, and merge
the images to produce an image with a broad
dynamic range.
Select an appropriate option according to the
image capture environment for which you will
perform calibration.
Refer to Camera Image Input HDR on page
61-66 in the Vision Sensor FH/FZ5 Series Vision System Processing Item Function Reference Manual (Cat. No. Z341-E1).
26
7. Select Number of Set Points
Parameter
Number of set points
Value
Explanation
[Factory Default]
 [4 Points]
 3 Points
Select the number of Set Point times the
robot will perform for calibration between
the robot and the camera.
Set Point will be performed for the number
of times set here in the Track Start Line side
of the tracking area.
elect an appropriate option according to
the shape of the tracking area.
8. Set the parameters under Data setting from EtherCAT.
Parameter
Value
Explanation
[Factory Default]
Data setting from
 User Input Area 0 to 5
EtherCAT
 Not use
machine coordinate X is saved from the
Machine Coordinate X
 [User Input Area 0]
drop-down list by clicking.
Select the user input area where the
・If you will not use this function, select
Not use.
Data setting from
 User Input Area 0 to 5
Select the user input area where the
EtherCAT
 Not use
machine coordinate Y is saved from the
Machine Coordinate Y
 [User Input Area 0]
drop-down list by clicking.
If you will not use this function, select
Not use.
Data setting from
 User Input Area 0 to 5
EtherCAT
 [Not use]
Encoder value
Select the user input area where the
encoder value is saved from the
drop-down list by clicking.
If you will not use this function, select
Not use.
27
9. After setting parameters under Data setting from EtherCAT, click Communication Test.
The result of the communication test will be displayed.
Communication test result:
Value of machine coordinate X
Communication test result:
Value of machine coordinate Y
Communication test result: Encoder value
Communication test result
For information about communication settings, refer to the FH/FZ5 Series Vision System User’s
Manual for Communications Settings (Cat. No. Z342-E1), or, FH Series Vision System Operation
Manual for Sysmac Studio (Cat. No. Z343-E1).
Communication
test messages
Not Executed
Explanation
The Communication Test button has not been clicked since
launching Conveyor Tracking Calibration Wizard.
Communication Succeeded
The Communication Test button is clicked, and values are
successfully obtained from the specified user input area.
Communication Failed
The Communication Test button is clicked, and obtaining
values from the specified user input area failed.
28
10. After setting of each item, click Next>.
11. The [Start] [Camera Settings] page appears.
This is the last page for settings of calibration parameters.
Refer to 4.5. Adjusting Settings to Measure Marks.
29
12. The Edit parameters page appears.
13. Adjust values for each calibration parameter in the spin box.
Click ▲and ▼ to change the value, or manually enter it to the box.
Parameter
Value
Parameter A
 -99999999.999999 to
Parameter B
99999999.999999
Parameter C
Explanation
[Factory Default]
 [0.000000]
Parameter D
Set up the calibration parameters to
convert the camera coordinates (x, y) to
machine coordinates (X, Y).
X = Parameter Ax + Parameter BXy +
Parameter E
Parameter C
Parameter F
Y = Parameter DXx + Parameter Exy +
Parameter F
Movement X per
encoder value
 -99999.9999 to
99999.9999
 [0.0000]
Set up the movement of MCS to the X
axis direction per encoder value on the
pick-side conveyor that will be calibrated.
The unit of measure: mm.
Movement Y per
encoder value
 -99999.9999 to
99999.9999
 [0.0000]
Set up the movement of MCS to the Y
axis direction per encoder value on the
pick-side conveyor that will be calibrated.
The unit of measure: mm.
30
14. After setting up each parameter, click the close (x) button of the Calibration Wizard for Conveyer Tracking tab to save settings. Settings will be saved and you will exit Conveyor Tracking
Calibration Wizard.
If you click Cancel, the settings will be discarded and you will go back to the [Start] [Execute
Content] page.
Precautions for Use
If you click < Back on the Calibration Parameter Edit page, settings will be temporarily kept, and
you will go back to the [Start] [Execute Content] page.
If you want to save settings, click the close (x) button of the Calibration Wizard for Conveyer
Tracking tab. Settings will be saved and you will exit Conveyor Tracking Calibration Wizard.
31
3.5. Adjusting Settings to Measure Marks
Adjust parameters for the camera with the Calibration Plate placed in the FOV.
This process corresponds to the step 3 in 4.1. Setup Procedure and User Interface of Conveyor
Tracking Calibration Wizard.
Precautions for Use
Capture Marks clearly, and move the Calibration Plate to include many Marks within the FOV to
improve the calibration accuracy. Avoid the following situations.
 Marks appear chipped in the captured image.
 Marks appear vague in the captured image.
 Unnecessary objects other than the pattern are in the captured image.
 The contrast of the black area and white area on the Calibration Plate is low.
 The contrast of the black area and white area on the Calibration Plate is inconsistent.
1. When you click Next > after completing the settings on the [Start] [Execute Content] page, the
List
Camera Coordinate Setting page will appear. The contents of the FunctionFunction
List View change
depending on the HDR settings adjusted on the [Start] [Execute Content] page.
Preview area
2. Click ▶ next to each parameter label in the Function List View to show the detailed parameters.
32
3.
Set the parameters under Camera settings.
These parameters must be set to perform calibration.
For more information about setting these parameters, refer to the Camera Settings (Camera
Image Input FH) on page 42-46 in the Vision Sensor FH/FZ5 Series Vision System Processing
Item Function Reference Manual (Cat. No. Z341-E1).
Parameter
Value
Explanation
[Factory Default]
Select setting
 Camera 0 to 7
Camera No.
 [Camera 0]
From the drop-down list, select the camera
number to use for calibration image capture
that is connected to the FH Sensor Controller
by clicking .
Camera settings
The value differs de-
Adjust the gain of cameras connected to the
Gain
pending on the con-
FH Sensor Controller you are using for image
nected camera.
capture for calibration. Click  to show a slider
For more information,
and move it, or, click
refer to the above
value. You can also enter the value into the
manual.
box. Adjust the gain when you cannot make
and to adjust the
captured images brighter by changing the
shutter speed, iris, or lighting.
It is usually best to use the factory default
values.
33
Camera settings
 [Cleared]
top-bottom mirror
 Selected
Select to vertically invert the image captured
by FH-SCxx or FH-SMxx camera.
conversion
Camera settings
 [Cleared]
Right-left mirror con-
 Selected
Select to horizontally invert the image captured by FH-SCxx or FH-SMxx camera.
version
Number of lines to be
Start line - End line
read
Set the image capture area for the camera to
use for calibration by adjusting the value for
The value of Start line
and End line differ depending on the con-
Start line and End line in the spin box.
Click to show a slider and move it, or, click
and  to adjust the value.
nected camera.
You can also enter the value into the box.
For more information,
Limiting the area of the image to capture
refer to the above
manual.
shortens the image capture time.
Consider the fluctuation of the target object's
position when deciding the range.
Images in the set range will be displayed in
the preview window.
Electronic flash set-
 0 to 511
ting
 [0]
put to the electronic flash trigger signal ON.
STEP-STGOUT delay
(One increment = 30
Adjust values in the spin box. Value changes
90μs
μs)
by 30 μs per click.
Set the delay time since the STEP signal in-
Click  to show a slider and move it, or, click
and  to adjust the Delay time. You can
also enter the value into the box.
Delay time = Count x 30 μs + 90 μs
Delay time differs depending on the STGOUT
pulse polarity (negative or positive). The displayed time is for the positive polarity. To find
the time for the negative polarity, add 35 μs to
the displayed time.
The delay time can be the value in a range of
±10 μs from the set value.
Electronic flash set-
 1 to 63
ting
 [3]
output signal. Adjust values in the spin box.
STGOUT width
(One count = 30 μs)
Value changes by 30μs per click.
Set the length of the electronic flash trigger
Click  to show a slider and move it, or, click
and  to adjust the Delay time. You can
also enter the value into the box.
You can also enter the value into the box.
34
Electronic flash set-
 [Positive]
ting
 Negative
Select the pulse polarity of the electronic flash
trigger from the radio buttons.
・Positive:
STGOUT polarity
Flashes synchronized with the timing of the
electronic flash trigger output signal changing from OFF to ON.
・Negative:
Flashes when the strobe trigger output
signal changes fromON to OFF.
4.
Set up parameters under HDR Setting.
The HDR parameter is available only when HDR Setting is enabled on the [Start] [Execute
Content] page.
For more information about setting these parameters, refer to the Camera Image Input HDR
on page 61-66 in the Vision Sensor FH/FZ5 Series Vision System Processing Item Function
Reference Manual (Cat. No. Z341-E1).
5.
The available parameters of HDR setting differ depending on the Mode Select setting under
Image Capture Settings.
HDR Mode
High contrast mode
35
Parameter
Value
Explanation
[Factory Default]
Image input setting
 [HDR Mode]
From the radio buttons, select a method to
Mode select
 High contrast
merge images. Select an appropriate option
mode
according to the image capture environment for
which you will perform calibration.
・HDR Mode:
Create images with stable brightness by
shooting multiple images with different shutter speed based on the specified brightness
range.
・High Contrast Mode:
Used to improve the contrast within an
image. Specify the average brightness and
brightness range, fix the shutter speed,
shoot multiple images, and generate images
with good contrast.
Image Capture Settings
Min. Bright range -
Set the brightness for merging images.
Bright range
Max. Bright range
This setting is available only when HDR mode
 0 to 20
 [8] to [14]
is enabled.
Set the minimum and maximum brightness.
Click to show a slider and move it,
or, click  and  to adjust the value.
You can also enter the value into the box.
Image Capture Settings
 0.00 to 20.00
Average
 [11.00]
Set the average brightness of images.
This setting is available only when HDR mode
is enabled.
Click  to show a slider and move it,
or, click and  to adjust the value.
You can also enter the value into the box.
Image Capture Settings
 0.00 to 20.00
Width
 [1.00]
Set the brightness range of images. This setting is available only when HDR mode is enabled.
Click 
to show a slider and move it, or, click
 and  to adjust the value. You can also enter the value into the box.
Image input settings
 [Cleared]
Select the check box to manually set the num-
Input num set
 Selected
ber of images to capture.
36
Image input settings
 2 to 16
Input num set
 [6]
This setting is available only when the Input
num set check box is selected. Set the value
from the spin box.
Click  and 
to adjust the value. You can
also enter the value into the box. Setting a high
image capture count provides images with low
noise.
However, more processing time is required.
Setting a low image capture count shortens
the processing time. However, the image is
more easily affected by noise.
Image input settings
 [Normal speed]
From the radio buttons, select a method to
Output setting
 Color
merge images.
Combination type
 Linear
・Normal:
Standard combination method. This corrects
the brightness so that dark sections on the
combination image do not become all black.
・Color:
This is suitable for inspection using the Labeling processing item and the Gravity and
Area processing item. This corrects the saturation when there is little hue information in
the combined image.
・Linear:
This is suitable for fine matching and defect
inspection. In order to output the actual
brightness of the workpiece, no compensation is performed.
6. Set up parameters under Bright adjust setting.
The HDR parameter is available only when HDR Setting is enabled on the [Start] [Execute
Content] page.
For more information about setting these parameters, refer to the Camera Image Input HDR on
page 61-66 in the Vision Sensor FH/FZ5 Series Vision System Processing Item Function Reference Manual (Cat. No. Z341-E1).
37
Parameter
Value
Explanation
[Factory Default]
Bright adjust setting
 [Cleared]
Bright adjust
 Selected
Select whether or not to auto-adjust the image
brightness. When selected, the brightness of
images will be auto-adjusted before output.
This provides images with stable brightness
even in an environment with inconsistent lighting condition.
Bright adjust setting
Min Adj. range - Max
Adj. range
Adj. range
Set the area on the captured image where the
brightness adjustment will be performed.
 0.00 to 20.00
 [6.00] to [16.00]
This setting is available only when the Bright
adjust check box is selected.
Set the minimum and maximum brightness.
Click  to show a slider and move it, or,
click  and  to adjust the value.
You can also enter the value into the box.
Bright adjust setting
 0.00 to 20.00
Adjust bright ave.
 [11.00]
Set the average brightness of images.
This setting is available only when the Bright
adjust check box is selected.
Click  to show a slider and move it, or,
click  and  to adjust the value.
You can also enter the value into the box.
When you click Set current bright, the average brightness of captured images will be calculated and the value of Adjust bright ave. will
be updated with the found value.
Need to check the
Japanese source and
specification
-
Click Edit to set the area to adjust brightness.
A rectangle for the editable region will be created.
7. If you want to change the area to apply brightness adjustment, click Edit under
38
Change adjust area. The Edit dialog appears.
Precautions for Use
The Edit dialog for the adjustment area change appears at the right side of the Edit button
under Change adjust area.
Part of the Edit dialog may be outside your computer screen depending on the position of
the Sysmac Studio window. If that occurs, point to the hidden area to show the hidden part of
the dialog again.
39
8. To add a region, click the Drawing tool (■) button.
9. In the Registered figure section in the Edit dialog, a rectangle is added. In the Preview
area, a rectangle for the editable region (pattern region) is created.
Adjust the position of the region by checking the preview. You can directly edit the rectangle region in the preview. When completed, click OK.
40
Parameter
Upper left position
Value
[Factory Default]
 The setting range
Explanation
Set the camera coordinates of the upper left
differs depending
corner point of the rectangle region.
on the camera.
Click  and  to adjust the value. You can
also enter the value into the box.
Lower right position
 The setting range
Set the camera coordinates of the lower right
differs depending
corner point of the rectangle region.
on the camera.
Click  and  to adjust the value. You can
also enter the value into the box.
Center Position
 The setting range
Set the camera coordinates of the center
differs depending
point of the rectangle region.
on the camera.
Click  and  to adjust the value. You can
also enter the value into the box.
Useful Information
When you open the Edit dialog again, only the coordinate boxes will be displayed, and the
drawing tool button will not be displayed.
10. Set the parameters under Screen adjust.
These parameters must be set to perform calibration. For more information about setting
these parameters, refer to the Screen Adjustment Settings (Camera Image Input FH) on
page 47-54 in the Vision Sensor FH/FZ5 Series Vision System Processing Item Function
Reference Manual (Cat. No. Z341-E1).
41
Parameter
Lighting Control
Value
Explanation
[Factory Default]
Differs depending on
If a camera with a built-in light or camera
the connected light.
with lighting controller is used, the light
For more infor-
amount can be controlled.
mation, refer to the
above manual.
Line bright
 [Cleared]
Display line bright
 Selected
Line bright
Differs depending on
Line bright position
the connected cam-
specifying the camera coordinates in the spin
X and Y
era.
box. This spin box is available only when
For more infor-
Display line bright is enabled.
mation, refer to the
above manual.
Select this check box to display the density
distribution along a virtual line in the image.
Specify the position of the Line bright by
Click  and  to adjust the value. You can
also enter the value into the box.
11. Set up parameters under White Balance.
These parameters must be set to perform calibration.
For more information about setting these parameters, refer to the White Balance (Camera
Image Input FH) on page 55 in the Vision Sensor FH/FZ5 Series Vision System Processing
Item Function Reference Manual (Cat. No. Z341-E1).
42
Parameter
Value
Explanation
[Factory Default]
The Lighting Control
If a camera with a built-in light or camera
White balance set-
setting differs de-
with lighting controller is used, the amount of
ting
pending on the con-
light can be controlled.
nected light.
For more information, refer to the
above manual.
Auto setting
-
Automatically adjusts the white balance setting.
Camera adjust area
Edit
-
Click Edit, then the Edit dialog will appear.
Set a region where the focus, iris, and white
balance settings will be adjusted.
A rectangle for the editable region will be
created.
This procedure is the same as the procedure
of setting a range for brightness adjustment,
which is described Step 7 to 9.
12. Confirm Brightness Histogram.
The Brightness Histogram setting is available only when HDR Setting is enabled on
the Execute Content of Start menu.
43
3.6. Measuring Location of Marks
Capture an image of Calibration Plate. This process corresponds to the step 4 in 4.1. Setup
Procedure and User Interface of Conveyor Tracking Calibration Wizard.
1. The [Camera Coordinate Settings] [Measure] page appears.
Click  next to each parameter label in the Function List View to show the detailed parameters.
44
2. Set the parameters under Measurement.
Parameter
Value
Explanation
[Factory Default]
Plate Measurement
 1 to 10
Count
 [1]
Set the number of times to measure the
Calibration Plate in integers 1 to 10.
Adjust values in the spin box. Click  and 
to adjust the value. You can also enter the
value into the box.
If measurement is unstable due to noise, or
if you want to improve the calibration accuracy, increase the measurement number
count.
Row(Odd Value)
 5 to 19
 [5]
Set the number of Marks per row on the
Calibration Plate in integer (odd number) 5 to
19.
Adjust values in the spin box. Click  and 
to adjust the value. You can also enter the
value into the box.
Column(Odd Value)
 5 to 19
 [5]
Set the number of Marks per column on the
Calibration Plate in integer (odd number) 5 to
19.
Adjust values in the spin box. Click  and 
to adjust the value. You can also enter the
value into the box.
Distance between
 1 to 200
Points (mm)
 [5]
Set distance between centers of Marks on
the Calibration Plate in integer 1 to 200. The
unit of measure: mm.
Adjust values in the spin box. Click  and 
to adjust the value. You can also enter the
value into the box.
45
 [Full]
Plate region
Click Edit to set the pattern region on the
Calibration Plate. When there are unnecessary objects other than the calibration pattern
captured in images, calibration may fail. In
that case, setting the pattern region may effectively solve the issue.
Measure Pattern
-
Click Measure Pattern Position to set the
Position
pattern position on the Calibration Plate.
Useful Information
Only odd numbers are allowed for the Row(Odd value) Row points setting and Column(Odd Value) (Marks per row/column setting) of the Pattern to have a Mark as the center
point.
The horizontal lines are rows, and vertical lines are columns. In the following figure, Marks
per row: Row(Odd value) is set to 7, and Marks per column: Column(Odd Value), is set to
5, making five rows and seven columns.
Column
1
2
3
4
5
6
7
Row 1
2
3
4
5
4. To set the pattern region under Measurement item, click Edit on the Plate region.
The Edit dialog appears, and a rectangle for the editable region (pattern region) is created
and shown over the preview image.
46
5. While checking the preview image, position the pattern region so as to avoid unnecessary
objects other than the Pattern. You can directly edit the rectangle region on the preview image.
When completed, click OK.
Parameter
Upper left position
Value
Explanation
[Factory Default]
 The setting range differs
depending on the camera.
 X coordinate, Y coordi-
Set the camera coordinates of the upper
left corner point of the rectangle region.
Click  and  to adjust the value.
You can also enter the value into the box.
nate: [0]
Lower right
position
 The setting range differs
Set the camera coordinates of the lower
depending on the cam-
right corner point of the rectangle region in
era.
the spin box.
 X coordinate, Y coordinate: [Full].
Center Position
 The setting range differs
Click  and  to adjust the value.
You can also enter the value into the box.
Set the camera coordinates of the center
depending on the cam-
point of the rectangle region in the spin
era.
box.
Click  and  to adjust the value.
You can also enter the value into the box.
47
6. Click Measure Pattern Position.
Marks of the Calibration Plate will be measured with the adjusted settings.
The result of the pattern measurement will be displayed in the Preview window and the
Measurement page.
If the measurement is successful, the measurement results are shown on the center of
each Mark.
Precautions for Use
After the pattern measurement, confirm that centers of the entire target Marks
are measured.
Any missing Marks may cause calibration to fail or degrade the accuracy, such as
X max error or Y max error
If that occurs, re-adjust the [Start] [Camera Settings] page.
48
7. Set the parameters under Distortion correction.
Parameter
Value
Explanation
[Factory Default]
Create Correction
Click this button to create parameters for
Parameter
distortion correction using measured data
by clicking Measure Pattern Position under
-
Measurement. This button is available only
when the pattern position measurement
was successful. Set parameters will be
displayed in the Parameter・Status section.
Use the Corrected
 [Cleared]
Select this check box when you want to
Image
 Selected
use the parameters for distortion correction.
・Not Created:
Parameter・Status
If the distortion correction parameters are
not set, this message appears in white.
・Create Succeeded:
If the distortion correction parameters are
successfully set, this message appears in
green.
・Create Succeeded:
-
If setting the distortion parameters fails,
this message appears in red.
・X max error:
The maximum error of mark measurement in the x axis direction. The unit of
measure: mm.
・Y max error:
The maximum error of mark measurement in the y axis direction. The unit of
measure: mm.
49
Precautions for Use
The displayed values in the Parameter・Status section are merely samples found by using
the result of Measure Pattern Position. The values can be referenced to estimate the result
of calibration, however, keep in mind that they are not guaranteed values.
8. After completing settings for the Measure and Distortion correction parameters, click Next
>.
3.7. Selecting Marks to Use for Calibration Parameter Calculation
Set the encoder value for image capture and also point(s) to which Set Point will be performed using captured images. This process corresponds to the step 5 in 4.1. Setup Procedure and User Interface of Conveyor Tracking Calibration Wizard.
1. The Camera Coordinate page of the Camera Coordinate Settings appears.
The measurement result when the Measure Pattern Position button, which is on the
Measure item of the Camera Coordinate settings, is clicked.
50
2. Set Point 1 coordinates for robot to perform the first Set Point.
On the displayed Measure Pattern Position a Mark is automatically selected, and the selected Mark looks like this:
the selected Mark (
. If the desired point for the first Set Point is the same as
), click Next >. If not, click a Mark on which you want to perform the
first Set Point. You can also specify the point in the Camera Coordinate box.
Parameter
Point 1 coordinates
Camera Coordinates
Value
[Factory Default]
 [The center point of
Explanation
Specify the point to which the robot will
the upper left Mark
perform Set Point after moving the Calibra-
on the result image
tion Plate into the tracking area by clicking
of the pattern
the preview image.
measurement per-
You can also specify the point in the Cam-
formed by clicking
Measure Pattern
era Coordinate box.
Click  and  to adjust the value, or enter
Position]
the value into the box.
51
Point 2 coordinates
Camera coordinates
 [The center point of
Specify the point to which the robot will
the upper right
perform Set Point after moving the calibration
Mark on the result
Plate into the tracking area by clicking the
image of the pat-
preview image. You can also specify the point
tern measurement
in the Camera Coordinate box.
performed by
clicking Measure
Click  and  to adjust the value, or enter
the value into the box.
Pattern Position]
Point 3 coordinates
 [The center point of
Camera coordinates
the lower left Mark
perform Set Point after moving the calibration
on the result image
Plate into the tracking area by clicking the
of the pattern
preview image. You can also specify the point
measurement per-
in the Camera Coordinate box.
formed by clicking
Measure Pattern
Specify the point to which the robot will
Click  and  to adjust the value, or enter
the value into the box.
Position]
Point 4 coordinates
Camera coordinates
 [The center point of
Specify the point to which the robot will
the lower right
perform Set Point after moving the calibration
Mark on the result
Plate into the tracking area by clicking the
image of the pat-
preview image. You can also specify the point
tern measurement
in the Camera Coordinate box.
performed by
clicking Measure
Click  and  to adjust the value, or enter
the value into the box.
Pattern Position]
This setting is available only when Number of
Set Points is set to 4 on the Start of the
Contents menu
3. Specify coordinates of points on which the robot will perform Set Point by clicking the preview image. You can specify three or four points. If Number of Set Points is set to 4 on the
Condition settings of the Start menu page, you need to specify four points.
Precautions for Use
The specified coordinates will be used for the Set Point operation in tracking areas in both
the Track Start Line side and Track Finish Line side.
Consider the shape of the tracking area when specifying the coordinates.
52
4. The Encoder value of the Camera Coordinate Settings menu page will be displayed.
Set the encoder value for the current camera position in the Encoder Value box.
After completing the encoder value setting, click Next >.
Parameter
Encoder value
Value
Explanation
[Factory Default]
 0 to 2147483647
 [0]
Set the encoder value for the camera position from which the Calibration Plate was
captured.
Click  and  to adjust the value, or, enter
the value into the box.
The encoder value can be up to 2147483647.
Once the encoder value reaches that value, it
goes back to 0 (ring counter system).
53
Read Out
Click this button to Read out the encoder
value based on the Encoder value setting
under Data setting from EtherCAT on the
Condition settings page.
The result of the read out will be displayed on
the left of the Read Out button.
-
・Read Out Succeeded:
If read out is successful, this message
appears in green, and the Encoder value
will be updated with the read out value.
・Read Out Failed:
If read out fails, this message appears in
red. The Encoder value will not be updated.
3.8. Moving the Calibration Plate into the Tracking Area
Move the Calibration Plate into the tracking area. This process corresponds to the step 6 and
8 in 4.1. Setup Procedure and User Interface of Conveyor Tracking Calibration Wizard.
The Calibration Plate can be moved to two places:
The Track Start Line side and Track Finish Line side of the tracking area.
1. The Plate Movement of the Camera Coordinate Settings page appears.
In the lower half of the page (Plate Movement Display), the preview image created based
on the pattern position measurement described in 4.6. Measuring Location of Marks is displayed.
This process corresponds to the step 6 in 4.1. Setup Procedure and User Interface of
Conveyor Tracking Calibration Wizard.
Move the Calibration Plate to the Track Start Line side of the tracking area by following the
instruction.
When completed, click Next>.
54
2. The Machine Coordinates Settings (Track Start Line Side) of the Plate Movement
menu
In the preview window, the preview image created based on the Measure Pattern Position
described in 4.6. Measuring Location of Marks is displayed.
3. Perform Set Point. For more information, refer to 4.9. Performing Set Point (Teaching) to
Marks Using the Calibration Plate.
4. Plate Movement page of the Machine Coordinates Settings (Track Start Line Side)
menu appears.
In this page, the result which proceeded on the Measure Pattern Position of the Measure
menu. For this Measure Pattern Position, described on 4-6 Measuring Location of Marks.
This process corresponds to the step 8 in 4.1. Setup Procedure and User Interface of
Conveyor Tracking Calibration Wizard.
To also perform Set Point on the Track Finish Line side, select the Input following guidance
option, and click Next >, and see 5.
To enter the movement per encoder value manually, select the Manually Enter Value option,
and see 7.
55
Track Finish Line of the
tracking area
Parameter
Value
Explanation
[Factory Default]
Input following
 [Cleared]
guidance
 Selected
Select when you want to specify new points
to perform Set Point.
After selecting this option, click Next >. You
will go to the Plate Movement page of the
Camera Coordinates Setting (Trace Start
Line Side) step. Specify the points for Set
Point.
Manually Enter Value
 [Cleared]
Select when you want to enter the movement
 Selected
per encoder value on MCS without specifying
the Set Points.
Movement X per
encoder value
 -99999.9999 to
99999.9999
Set the movement in the x axis direction of
MCS per encoder value in the spin box.
Click  and  to adjust the value, or enter
the value into the box.
Movement Y per
encoder value
 -99999.9999 to
99999.9999
Set the movement in the y axis direction of
MCS per encoder value in the spin box.
Click  and  to adjust the value, or enter
the value into the box.
56
5. If the Input following guidance option is selected, the Machine Coordinates of the Machine
Coordinates Settings (Track Finish Line Side) menu will appear.
6. Perform Set Point. Make sure that stop the machine and conveyer when Set Point is performed. For details, refer to 4.9. Performing Set Point (Teaching) to Marks Using the Calibration Plate.
7. Set the movement per encoder value and then click Next >.
Refer to 4.10 Performing Calibration.
3.9. Performing Set Point (Teaching) to Marks Using the Calibration Plate
Perform Set Point to the points measured or specified by the encoder value. You can also
enter the value into the box. This process corresponds to the step 7 and 9 in 4.1. Setup Procedure and User Interface of Conveyor Tracking Calibration Wizard.
1. The Machine Coordinates of the Machine Coordinates Settings (Track Start Line
Side) menu appears. In the preview window, the preview image created based on the pattern position measurement described in 4.6. Measuring Location of Marks is displayed.
57
To adjust settings for the Track Start Line side, go to the Machine Coordinates Settings (Track
Start Line Side) step pages.
To adjust settings for the Track Finish Line side, go to the Machine Coordinates Settings (Track
Finish Line Side) step pages.
2. Click ▼ on the Point 1 coordinate, select your attempt number of the coordinate, and set the
parameters.
Perform Set Point to teach the robot the coordinates specified in the steps described in 4.7.
Selecting Marks for Calibration Parameter Calculation.
Click Next >.
When you use Machine Coordinates Settings (Track Start Line Side), the number of Set Point
action specified on the Number of Set Points parameter, is required. For Number of Set Points
settings, refer to 4.4 Selecting the Type and Other Conditions of Calibration.
The number of Set Point action of the mark position, specified on Point 1 coordinate parameter,
is required.
58
Parameter
Value
[Factory Default]
Camera Coordinates X
 -99999.9999 to
Camera Coordinates Y
99999.9999
Explanation
Perform Set Point to teach the robot the
coordinates specified in the steps described
in 4.7. Selecting Marks for Calibration Parameter Calculation. Set the x coordinate
on MCS in the spin box.
.Click  and  to adjust the value, or
enter the value into the box.
Machine Coordinates Y
 -99999.9999 to
99999.9999
Perform Set Point to teach the robot the
coordinates specified in the steps described
in 4.7. Selecting Marks for Calibration Parameter Calculation. Set the y coordinate
on MCS in the spin box.
.Click  and  to adjust the value, or
enter the value into the box.
59
Read Out
-
Click this button to read out the machine
coordinate x/y based on the
Machine
Coordinates X and Machine Coordinates
Y setting under Data setting from EtherCAT
on the Condition settings page.
The result of the read out will be displayed
on the left of the Read Out button.
・Read Out Succeeded:
If read out is successful, this message
appears in green, and Machine Coordinates X and Machine Coordinates Y will
be updated with the read out value.
・Read Out Failed:
If read out fails, this message appears in
red. Machine Coordinates X and Machine
Coordinates Y
will not be updated
60
Useful Information
During the Set Point for the Track Start Line side, the order of the Set Point is displayed in the
preview image.
3. The Encoder value of the Machine Coordinates Settings (Track Start Line Side) page
will be displayed.
Set the encoder value for the current position (position of the Calibration Plate).
After completing the encoder value setting, click Next >.
61
Parameter
Encoder value
Value
Explanation
[Factory Default]
 0 to 2147483647
 [0]
Set the encoder value for the camera position
from which the Calibration Plate was captured.
Click  and  to adjust the value. or enter the
value into the box.
The encoder value can be up to 2147483647.
Once the encoder value reaches that value, it
goes back to 0 (ring counter system).
Read Out
Click this button to read out the encoder value
based on the Encoder Value setting under Data
setting from EtherCAT on the Condition settings page.
The result of the read out will be displayed on
the left of the Read Out button.
-
・Read Out Succeeded:
If read out is successful, this message
appears in green, and the Encoder value will
be updated with the read out value.
・Read Out Failed:
If read out fails, this message appears in
red. The Encoder value will not be updated.
62
3.10. Performing Calibration
Perform calibration with the settings explained in preceding sections.
This process corresponds to the step 10 in 4.1. Setup Procedure and User Interface of Conveyor
Tracking Calibration Wizard.
1. Confirm the result of conveyor tracking calibration.
Parameter
Calibration Result
Explanation
Displays the result of conveyor tracking calibration.
・Succeeded:
If the conveyor tracking calibration was successful, this message
appears in green.
・Failed:
If the conveyor tracking calibration failed, this message appears in
red.
Scene Name
Displays the current Scene that is used in Conveyor Tracking Calibration
Wizard.
Type
Displays the type of calibration set on the Execute Condition of the
Start menu.
 Batch Sampling
 Specify Point(s)
63
X max error
Displays the maximum error in the x axis direction between coordinates
calculated using calculated calibration parameters and sampled coordinates as a value on MCS.
The unit of measure: mm.
Y max error
Displays the maximum error in the y axis direction between coordinates
calculated using calculated calibration parameters and sampled coordinates as a value on MCS. The unit of measure: mm.
Calibration parameter
Displays the calibration parameters to convert the camera coordinates
(x, y) to machine coordinates (X, Y).
・X = Parameter Ax + Parameter BXy + Parameter C
・Y = Parameter DXx + Parameter Exy + Parameter F
Movement X per
encoder value
Displays the movement amount of the machine coordinate to the X axis
direction per encoder value on the conveyor from which target objects
will be picked up by a robot that will be calibrated. The unit of measure:
mm.
Movement Y per
encoder value
Displays the movement amount of the machine coordinate to the Y axis
direction per encoder value on the pick-side conveyor that will be calibrated. The unit of measure: mm.
Precautions for Use
When calibration fails, confirm the followings and perform calibration again.
・Set Point cannot be performed on overlapped points. Confirm that the same point is not repeatedly specified for a Set Point, which are set in steps described in 4.7. Selecting Marks for
Calibration Parameter Calculation or 4.9. Performing Set Point (Teaching) to Marks Using the
Calibration Plate.
・Set Point cannot be performed on aligned points. Confirm that the target points are not aligned
for Set Point, which are set in steps described in 4.7. Selecting Marks for Calibration Parameter
Calculation or 4.9. Performing Set Point (Teaching) to Marks Using the Calibration Plate.
64
2.
If re-calibration is not necessary after confirming the above points, click the close (x) button on
the Conveyor Calibration Tracking Wizard tab. The calibration result will be saved, and Conveyor Tracking Calibration Wizard will close.
If you want to re-calibrate, click Cancel or < Back.
3.11. Measurement results can be output (Conveyor Tracking Calibration Wizard Tool)
Measurement item
Judgment result
Character strings]
JG
Description
Show the judgment result.
65
3.12. External Reference Table (Conveyor Tracking Calibration Wizard Tool)
No.
0
Data name
Judge
Set/Get
Get only
Data range
0:No judgement(Unmeasured)
1:Judgement Result OK
5
Number of marks
Get only
The detected number of the calibration
marks is acquired when the sample measurement is executed.
6
Machine coordinate X
Get only
from the User area.
(Get from User Input Area)
7
Machine coordinate Y
Get only
(Get from User Input Area)
8
Encoder value
Machine coordinate X when is acquired
Machine coordinate Y when is acquired
from the User area.
Get only
The encoder value when is acquired from
the User defined area
Machine coordinate X
(Get from User Input Area)
120
Number of set points
Get only
3:Select 3 points
4:Select 4 points
122
Sampling unit No.
Set/Get
Sampling processing item number (This
data is applied only for the Precise Calibration function.)
-1:No reference
0~9,999:Sampling unit No.
123
User Input Area for ma-
Set/Get
chine coordinate X
User Input Areas for the machine coordinate X.
-1:None
0:User Input Area 0
:
5:User Input Area 5
124
User Input Area for ma-
Set/Get
chine coordinate Y
User Input Areas for the machine coordinate Y.
-1:None
0:User Input Area 0
:
5:User Input Area 5
125
User Input Area for the
encoder value
Set/Get
User Input Areas for the encoder value.
-1:None
0:User Input Area of the encoder value 0
:
5:User Input Area of the encoder value 5
66
126
Calculation method of
Set/Get
Entering method for the movement amount
movement per
per one encoder value.
encoder value
0:Auto calculation
(Enter the value following the guidance.)
1:Manual entry
(Enter the value manually.)
127
Movement X per encoder
et/Get
~999,999,999.999999
value
128
Movement Y per encoder
Set/Get
A (uncorrected)
-999,999,999.999999
~999,999,999.999999
value
150
-999,999,999.999999
Set/Get
Calculation result of the calibration parameter A
151
B (uncorrected)
Set/Get
Calculation result of the calibration parameter B
152
C (uncorrected)
Set/Get
Calculation result of the calibration parameter C
153
D (uncorrected)
Set/Get
Calculation result of the calibration parameter D
154
E (uncorrected)
Set/Get
Calculation result of the calibration parameter E
155
F (uncorrected)
Set/Get
Calculation result of the calibration parameter F
156
X
Get only
magnification(uncorrected)
The calculated X magnification using the
calibration data before correction. (The
calculation method is same as the Camera
Calibration function.)
Reference:▶ Camera Calibration in the
FH/FZ5 Processing Item Function Reference Manual.
157
Y
Get only
The calculated Y magnification using the
Magnification
calibration data before correction.
(uncorrected)
(The calculation method is same as Camera Calibration function.)
158
Origin X
Get only
magnification(uncorrected)
The calculated origin X magnification using
the calibration data before correction.
(The calculation method is same as Camera Calibration function.)
159
Origin Y magnification
(uncorrected)
Get only
The calculated origin Y magnification using
the calibration data before correction.
(The calculation method is same as Camera Calibration function.)
67
160
X-axis angle
Get only
(uncorrected)
The calculated X-axis angle using the calibration data before correction.
(The calculation method is same as Camera Calibration function.)
161
Y-axis angle
Get only
(uncorrected)
The calculated Y-axis angle using the
calibration data before correction.
(The calculation method is same as Camera Calibration function.)
162
XY-axis angle
Get only
The calculated XY-axis angle using the
calibration data before correction.
(uncorrected)
(The calculation method is same as Camera Calibration function.)
163
X max error
Get only
X maximum error at the calibration.
(The calculation method is same as the
Vision Master Calibration function.)
(Reference:▶ Vision Master Calibration in
the FH/FZ5 Processing Item Function
Reference Manual)
164
Y max error
Get only
Y maximum error at the calibration.
(The calculation method is same as the
Vision Master Calibration function.)
165
Corrected X magnification
Set/Get
The corrected value of X magnification.
(The calculation method is same as Camera Calibration.)
Reference:▶ Camera Calibration in the
FH/FZ5 Processing Item Function Reference Manual.
166
Corrected Y magnification
Set/Get
The corrected value of Y magnification.
(The calculation method is same as Camera Calibration function.)
167
Corrected X-axis angle
Set/Get
The corrected value of X-angle angle.
(The calculation method is same as Camera Calibration function.)
168
Corrected Y-axis angle
Set/Get
The corrected value of Y-angle angle.
(The calculation method is same as Camera Calibration function.)
169
Origin X offset
Set/Get
The corrected value of the Origin X.
(The calculation method is same as Camera Calibration function.)
170
Origin Y offset
Set/Get
The corrected value of the Origin Y.
(The calculation method is same as Camera Calibration function.)
68
171
A(corrected)
Get only
Re-calculated calibration parameter A using Calibration data before correction,
Corrected
magnification, Corrected an-
gle, and Origin offset]
(The calculation method is same as Camera Calibration function.)
172
B(corrected)
Get only
Re-calculated calibration parameter B using Calibration data before correction,
Corrected
magnification, Corrected an-
gle, and Origin offset]
(The calculation method is same as Camera Calibration function.)
173
C(corrected)
Get only
Re-calculated calibration parameter C using Calibration data before correction,
Corrected
magnification, Corrected an-
gle, and Origin offset]
(The calculation method is same as Camera Calibration function.)
174
D(corrected)
Get only
Re-calculation calibration parameter D
using Calibration data before correction,
Corrected
magnification, Corrected an-
gle, and Origin offset]
(The calculation method is same as Camera Calibration function.)
175
E(corrected)
Get only
Re-calculation calibration parameter E using Calibration data before correction,
Corrected
magnification, Corrected an-
gle, and Origin offset]
(The calculation method is same as Camera Calibration function.)
176
F(corrected)
Get only
Re-calculation calibration parameter F using Calibration data before correction,
Corrected
magnification, Corrected an-
gle, and Origin offset]
(The calculation method is same as Camera Calibration function.)
177
X magnification
(corrected)
Get only
Re-calculated X magnification using calibration data after correction.
(The calculation method is same as Camera Calibration function.)
69
178
Y magnification
Get only
(corrected)
Re-calculated Y magnification using calibration data after correction.
(The calculation method is same as Camera Calibration function.)
179
Origin X
Get only
(corrected)
Re-calculated origin X using calibration
data after correction.
(The calculation method is same as Camera Calibration function.)
180
Origin Y
Get only
Re-calculated origin Y using calibration
data after correction.
(corrected)
(The calculation method is same as Camera Calibration function.)
181
X-axis angle
Get only
(corrected)
Re-calculated X-axis angle using calibration data after correction.
(The calculation method is same as Camera Calibration function.)
182
Y-axis angle
Get only
(corrected)
Re-calculated Y-axis angle using calibration data after correction.
(The calculation method is same as Camera Calibration function.)
183
XY-axis angle
Get only
(corrected)
Re-calculated XY-axis angle using calibration data after correction.
(The calculation method is same as Camera Calibration function.)
200+N×1
Camera X
Set/Get
(N=0~
Camera coordinate X (N+1) at time Set
Point performed using image capture.
99)
300+N×1
Camera Y
Set/Get
(N=0~
Camera coordinate X (N+1) at time Set
Point performed using image capture.
99)
400+N×1
Machine
coordinate
(N=0~
(Track start line side)
X
Set/Get
Set Point performed on the Track start line
side.
99)
500+N×1
Machine
(N=0~
(Track start line side)
coordinate
Y
Set/Get
The machine coordinate Y (N+1 ) at time
Set Point performed on the Track start line
side.
99)
600
The machine coordinate X (N+1 ) at time
Machine
coordinate
X
Set/Get
The machine coordinate X of the first set
position on the Track finish line of the
(Track finish line side)
tracking area.
601
Machine
coordinate
(Track finish line side)
X
Set/Get
The machine coordinate Y of the first set
position on the Track finish line of the
tracking area.
70
602
Encoder value
Set/Get
Encoder value of camera position.
Set/Get
Encoder value of the Track Start Line of
(Camera position)
603
Encoder value
(Track start line side)
604
Encoder value
tracking area.
Set/Get
(Track finish line side)
5000
Calculate calibration
Encoder value of the Track Finish Line of
tracking area.
Get only
Getting this value, the following processes
are executed.
parameter
【Executing contents】
Calculates the calibration parameter using
camera coordinate XY, Machine coordinate
XY, Encoder value, and the movement
amount XY per one encoder value.
【Data】
0: Succeds the calsulation of calibration
parameter.
-1: Fails the calsulation of calibration parameter.
5002
Execute sampling
Get only
Getting this value, the following processes
are executed.
【Executing contents】
1. Copies the Pattern Position XY measured on the Precise Calibration function to the camera coordinates buffer.
2. Stores the marks to the measurement
data.
3. Set the initialize value to the camera
coordinate XY.
(Search the calibration 4 mark coordinates on the calibration pattern. Set the
coordinates to the camera coordinate
XNN/YNN according to the number of
Set Point actions.)
71
5003
Initialize camera
coordinates buffer
Get only
Getting this value, the following processes
are executed.
【Executing contents】
Clear the camera coordinates buffer.
The cleared object are the following;
・Camera coordinate X buffer (All) = 0.0
・Camera coordinate Y buffer (All) = 0.0
・Number of marks = 0
【Data】
0: Normally finished
-1: Abnormally finished
72
OMRON Corporation
Industrial Automation Company
Authorized Distributor:
Kyoto, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ELECTRONICS LLC
2895 Greenspoint Parkway, Suite 200
Hoffman Estates, IL 60169 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
© OMRON Corporation 2015 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
Cat. No. Z370-E1-01
1015
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