Warning

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 1.1 .

Plugin hand-eye calibration

You can perform hand-eye calibration via EYE+ Studio or directly using the plugin through the hand-eye calibration page.

To open the page, go to MENU > PLUGINS > EYE+ Hand-Eye Config.

../_images/handeye_configuration.png

Fig. 5 Hand-eye calibration for EYE+

Requirements before starting

  • You must be connected to your EYE+ to use this configuration page. If your EYE+ is connected, you should be able to see its current state on the screen next to EYE+ state: {current state}.

    Note

    If you are not connected, the following error message is displayed: Last error: 698 Not connected Make sure to have correctly performed the Plugin configuration steps.

  • You must have prepared a recipe with your calibration part in EYE+ Studio.

  • Your robot must be configured with the correct tool and frame.

1. Start hand-eye calibration

To start EYE+ in hand-eye calibration, you must enter the recipe identifier of your calibration part in the dedicated field and then click on the START button.

Once the calibration is started, the Record Positions section will be available for the next steps.

../_images/handeye_started.png

Fig. 6 Hand-eye calibration correctly started

2. Record Positions

This step is used to record robot and vision coordinates of 4 different positions.

Record position 1

Go to the Position 1 tab and follow the steps below.

1 - Move the robot

  • Move the robot to one corner of the Asycube with your calibration part already placed in the gripper.

  • Once the robot is correctly positioned, save the current position by clicking on GET POSITION. The position in x and y should be displayed on the screen.

    For example: Position: [x=123.45678 y=-128.45789]

2 - Take an image

  • Release the part on the Asycube without moving it and move the robot out of the field of view.

  • Once the robot is out of the field of view, take an image by clicking on the button TAKE IMAGE. If the part is properly detected on the plate, the following icon must appear: icon_ok.

    Note

    If the image status is icon_not_ok, it means that your part has not been detected by EYE+. Make sure you have placed the part in the camera’s field of view and that the recipe you selected is valid.

../_images/handeye_record_positions.png

Fig. 7 Hand-eye calibration - Record position 1

Record position 2

Go to the Position 2 tab and follow the same procedure as presented for position 1. The part must be placed in a different corner than for position 1.

Record position 3

Go to the Position 3 tab and follow the same procedure as presented for position 1. The part must be placed in a different corner than for position 1 and 2.

Record position 4

Go to the Position 4 tab and follow the same procedure as presented for position 1. The part must be placed in a different corner than for position 1, 2 and 3.

3. Calibrate

Once all the positions are recorded, the section Calibrate will be available.

../_images/handeye_all_positions_recorded.png

Fig. 8 Hand-eye calibration - All positions recorded

Calibrate

Apply the calibration by clicking on CALIBRATE.

If the calibration is a success, icon_ok will appear next to the Calibration accuracy.

The calibration accuracy will inform you about the quality of the hand-eye calibration.

Note

If the calibration failed, icon_not_ok will appear. This means that it is not possible to obtain a transformation matrix between the recorded positions and the vision coordinates. This can happen in the following cases:

  • You have placed the part in the same corner more than once.

  • You have matched a robot coordinates with the wrong image acquisition.

  • The part has moved between the position registration and the image acquisition.

  • Your recipe does not detect the part correctly.

If you made a mistake, try repeating the 4 steps again.

../_images/handeye_calibrated.png

Fig. 9 Hand-eye calibration - Calibration succeeded

Save

If you are satisfied with this accuracy, you can save the calibration by clicking on SAVE & STOP.

Once the calibration is saved, it will automatically be used in production. If another calibration has been saved before, it will be overwritten by the new calibration.

After saving, your EYE+ will return to the ready state.