Visual Offset Example

1. Custom coordinate system fixed, point offset

• 1.Create a new point coordinate system (take_photo) via Configuration - General - Coordinate System.

This means that the offset is based on this point, and the coordinate system is created as a point, so that the direction is the same as the tool coordinate system.

• 2.Through Configuration - General - Variables, the new variable offset is used to store the position of the point to which the offset is moved (offset={0,0,0,0,0,0,0})

Assume that offset_x,offset_y,offset_z are the offset values of the physical object recognized by the camera relative to the template offset in the x,y,z directions.

• 3.Write project: in the waypoint that needs to be offset, the motion property selects the coordinate system of the point as take_photo, the waypoint selects the variable position, and the offset function uses the bit-position type in (m,rad)

• 4.Project description: This project is to simulate a minimal visual offset application example, the value of the point offset can be based on the vision system to recognize the value of the acquisition, set the offset reference point is take_photo.

2.Customized coordinate systems, coordinate system offsets

• 1.Create a new point coordinate system (ref_coord) via Configuration - General - Coordinate System.

The ref_coord point is used as the reference coordinate system, and the coordinate system is created as a point, so that the orientation is the same as the tool coordinate system.

• 2.Write project: in the waypoint to be offset, the motion property selects the coordinate system of the point as ref_coord, here three waypoints are set up.

• 3.Offset the customized coordinate system ref_coord so that the three set waypoints are also offset.

The position of the customized coordinate system ref_coord can be obtained from the script.

In this example, the coordinate system ref_coord X+direction +0.2m, Z-direction +0.2m, as shown in the following figure.

• 4.Project description: This project is to simulate a minimal visual offset application example, the value of the coordinate system offset can be based on the value obtained by the visual system recognition, set the offset coordinate system is ref_coord.