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Relationship of Tips and Tools

AnOldUR
We got a 321GLtp a few months ago, but I'm just now getting a chance to play with its tactile capabilities. I think I have the tool calibrations right, but I'm not sure what to expect.

I did a part alignment with a touch probe then measured the same circle and Z point with both the vision and the touch probe.

The diameter measured exactly the same with both methods. For its center point, the X is the same, the Y is .0002 off and the Z is .0125 off.

Is that an expected error on the XY axis?

Can the Z ever be calibrated to be the same or are there too many variables with lighting to make that possible?

  • Vision to Tactile (probe) Calibration chain should be as followed:

    Vision - Calibrate to Ring, set to YES tool has moved.
    Probe 1 - Calibrate to Ring, set to NO tool has moved.
    Probe 1 - Calibrate to Sphere, set to YES tool has moved.
    Probe 2 - Calibrate to Sphere, set to NO tool has moved.
    Probe 3 - Calibrate to Sphere, set to NO tool has moved.
    etc.
  • Does it matter what order the probes are in the program? In this case, I'm running the tactile probe first and then the vision.

    I remeasured both probes as described above, but got the same results as before when measuring the same part feature both ways.
  • Are you able to post your code at all? If so, use the 
    bracket at the beginning of your code and the
    at the end of your code. (don't put spaces in between the brackets and letters. I did for example purposes).
  • The program is only for testing purposes. It measures the same ring used for setting up probes. 

    PART NAME  : test of vision system using tactile
REV NUMBER :
SER NUMBER :
STATS COUNT : 1

STARTUP    =ALIGNMENT/START,RECALL:USE_PART_SETUP,LIST=YES
            ALIGNMENT/END
            MODE/MANUAL
            FORMAT/TEXT,OPTIONS, ,HEADINGS,SYMBOLS, ;NOM,TOL,MEAS,DEV,OUTTOL, ,
            LOADPROBE/SF_4BY10
            TIP/TIP1, SHANKIJK=-0.1072, 0.1006, 0.9891, ANGLE=0.5665
            MODE/MANUAL
PLN_MAN    =FEAT/PLANE,CARTESIAN,TRIANGLE
            THEO/<0,0,0>,<0,0,1>
            ACTL/<-2.1283,2.9909,-8.0709>,<-0.0000083,0.0014761,0.9999989>
            MEAS/PLANE,4
              HIT/BASIC,NORMAL,<-1.4814,2.918,-8.0708>,<-0.0005,0,0.9999999>,<-2.2353,2.5165,-8.0702>,USE THEO=YES
              HIT/BASIC,NORMAL,<-1.4814,2.918,-8.0708>,<-0.0005,0,0.9999999>,<-1.9858,3.4138,-8.0715>,USE THEO=YES
              HIT/BASIC,NORMAL,<-1.4814,2.918,-8.0708>,<-0.0005,0,0.9999999>,<-1.6479,2.9957,-8.0709>,USE THEO=YES
              HIT/BASIC,NORMAL,<-1.4814,2.918,-8.0708>,<-0.0005,0,0.9999999>,<-2.6443,3.0375,-8.071>,USE THEO=YES
            ENDMEAS/
CIR_MAN    =FEAT/CIRCLE,CARTESIAN,IN,LEAST_SQR
            THEO/<-2.1493,2.9374,-8.1252>,<0,0,1>,0.7875
            ACTL/<-2.1493,2.9375,-8.0762>,<0,0,1>,0.7875
            MEAS/CIRCLE,4,ZPLUS
              HIT/BASIC,NORMAL,<-1.7556,2.9422,-8.1251>,<-0.9999267,-0.0121087,0>,<-2.1644,2.544,-8.0767>,USE THEO=YES
              HIT/BASIC,NORMAL,<-2.5423,2.9607,-8.1251>,<0.9982603,-0.0589614,0>,<-2.0585,3.3206,-8.0767>,USE THEO=YES
              HIT/BASIC,NORMAL,<-2.2668,2.5617,-8.1252>,<0.2985523,0.9543933,0>,<-2.5367,3.0081,-8.0766>,USE THEO=YES
              HIT/BASIC,NORMAL,<-2.0869,3.3262,-8.1253>,<-0.1585659,-0.9873484,0>,<-1.7613,2.8702,-8.075>,USE THEO=YES
            ENDMEAS/
A1         =ALIGNMENT/START,RECALL:STARTUP,LIST=YES
              ALIGNMENT/LEVEL,ZPLUS,PLN_MAN
              ALIGNMENT/TRANS,ZAXIS,PLN_MAN
              ALIGNMENT/TRANS,XAXIS,CIR_MAN
              ALIGNMENT/TRANS,YAXIS,CIR_MAN
            ALIGNMENT/END
            MODE/DCC
            MOVESPEED/ 50
            PREHIT/0.05
            RETRACT/0.05
            MOVE/POINT,NORMAL,<0,0,0.1>
PLN_DCC    =FEAT/PLANE,CARTESIAN,TRIANGLE
            THEO/<0,0,0>,<0,0,1>
            ACTL/<0,0,0.0012>,<0.0000115,-0.0000276,1>
            MEAS/PLANE,4
              HIT/BASIC,NORMAL,<-0.5,0,0>,<0,0,1>,<-0.5,0,0.0012>,USE THEO=YES
              HIT/BASIC,NORMAL,<0,0.5,0>,<0,0,1>,<-0.0001,0.5001,0.0012>,USE THEO=YES
              HIT/BASIC,NORMAL,<0.5,0,0>,<0,0,1>,<0.4999,0,0.0012>,USE THEO=YES
              HIT/BASIC,NORMAL,<0,-0.5,0>,<0,0,1>,<0,-0.5,0.0012>,USE THEO=YES
            ENDMEAS/
            MOVE/POINT,NORMAL,<0,0,0.1>
CIR_DCC    =FEAT/CIRCLE,CARTESIAN,IN,LEAST_SQR
            THEO/<0,0,-0.05>,<0,0,1>,0.788
            ACTL/<0,-0.0003,-0.05>,<0,0,1>,0.7875
            MEAS/CIRCLE,4,ZPLUS
              HIT/BASIC,NORMAL,<-0.394,0,-0.05>,<1,0,0>,<-0.3938,0.0001,-0.0501>,USE THEO=YES
              HIT/BASIC,NORMAL,<0,0.394,-0.05>,<0,-1,0>,<-0.0001,0.3934,-0.0499>,USE THEO=YES
              HIT/BASIC,NORMAL,<0.394,0,-0.05>,<-1,0,0>,<0.3937,0.0001,-0.0499>,USE THEO=YES
              HIT/BASIC,NORMAL,<0,-0.394,-0.05>,<0,1,0>,<0,-0.3941,-0.05>,USE THEO=YES
            ENDMEAS/
            MOVE/POINT,NORMAL,<0,0,0.1>
A2         =ALIGNMENT/START,RECALL:A1,LIST=YES
              ALIGNMENT/LEVEL,ZPLUS,PLN_DCC
              ALIGNMENT/TRANS,ZAXIS,PLN_DCC
              ALIGNMENT/TRANS,XAXIS,CIR_DCC
              ALIGNMENT/TRANS,YAXIS,CIR_DCC
            ALIGNMENT/END
$$ NO,


            Tactile Inspection


CYL1       =FEAT/CONTACT/CYLINDER/DEFAULT,CARTESIAN,IN,LEAST_SQR
            THEO/<0,0,0>,<0,0,1>,0.788,0.1
            ACTL/<0,0,0>,<-0.0000901,-0.0003603,0.9999999>,0.7875,0.1
            TARG/<0,0,0>,<0,0,1>
            START ANG=0,END ANG=0
            ANGLE VEC=<1,0,0>
            DIRECTION=CCW
            SHOW FEATURE PARAMETERS=YES
              VOID DETECTION=NO
              REMEASURE=NO,USE THEO=NO
              SURFACE=THICKNESS_NONE,0
              MEASURE MODE=NOMINALS
              RMEAS=NONE,NONE,NONE
              CIRCULAR MOVES=STRAIGHT
              GRAPHICAL ANALYSIS=NO
              FEATURE LOCATOR=NO,NO,""
            SHOW CONTACT PARAMETERS=YES
              NUMHITS=4,NUMLEVELS=2,DEPTH=0.02,END OFFSET=0.02,PITCH=0
              SAMPLE METHOD=SAMPLE_HITS
              SAMPLE HITS=0,SPACER=0
              AVOIDANCE MOVE=NO,DISTANCE=0.3937
              FIND HOLE=DISABLED,ONERROR=NO,READ POS=NO
            SHOW HITS=NO
            MOVE/POINT,NORMAL,<0,0,2>
$$ NO,


            Vision Inspection


            LOADPROBE/VISIO_6X-1X
            TIP/TIP1, SHANKIJK=-0.1174, 0.9871, 0.1092, ANGLE=138.5309
CIR1       =FEAT/VISION/CIRCLE/DEFAULT,CARTESIAN,IN,LEAST_SQR
            THEO/<0,0,0>,<0,0,1>,0.788,0,0
            ACTL/<0,-0.0002,0.0023>,<-0.0000031,-0.0014485,0.999999>,0.7875,0,0
            TARG/<0,0,0>,<0,0,1>
            ANGLE VEC=<1,0,0>
            SHOW FEATURE PARAMETERS=YES
              SURFACE=THEO_THICKNESS,0
              MEASURE MODE=NOMINALS
              RMEAS=NONE,NONE,NONE
              PREPOSITION=NO
              GRAPHICAL ANALYSIS=NO
              DIAGNOSTICS=NO
              FEATURE LOCATOR=NO,NO,""
            SHOW_VISION_PARAMETERS=YES
              TYPE=AUTOMATIC HIT TARGET
              COVERAGE=100%
              COVERAGE ACTIVE TARGETS=4
              MAGNIFICATION=0.7548
              HIT TARGET COLOR=BLACK,NOMINAL COLOR=GREEN
              HIT TARGET=EA1,0,1,NORMAL,0.0596
              FILTER=YES,2,YES,0,2
              EDGE=MATCHING EDGE,9,[?]->[?],-1,-1,-1,NO,Top Light=<OFF,40,OFF>,Bottom Light=<OFF,40,ON>,Ring Light=<OFF,0.8,OFF>
              FOCUS=YES,FULL,0.1,YES,2,NONE,NO
PNT1       =FEAT/VISION/SURFACE POINT/DEFAULT,CARTESIAN
            THEO/<0.01,0.55,0>,<0,0,1>
            ACTL/<0.01,0.55,0.0124>,<-0.0000031,-0.0014485,0.999999>
            TARG/<0.01,0.55,0>,<0,0,1>
            SNAP=NO
            SHOW FEATURE PARAMETERS=YES
              SURFACE=THICKNESS_NONE,0
              MEASURE MODE=NOMINALS
              RMEAS=NONE,NONE,NONE
              PREPOSITION=NO
              GRAPHICAL ANALYSIS=NO
              DIAGNOSTICS=NO
              FEATURE LOCATOR=NO,NO,""
            SHOW_VISION_PARAMETERS=YES
              TYPE=AUTOMATIC HIT TARGET
              MAGNIFICATION=0.7548
              HIT TARGET COLOR=BLACK,NOMINAL COLOR=GREEN
              HIT TARGET=SA1,NO,0.25,0.25
              FOCUS=AUTO,YES,0.1968504,,NONE,-1,-1,-1,NO,Top Light=<OFF,40,OFF>,Bottom Light=<OFF,40,OFF>,Ring Light=<OFF,95,ON>
PNT2       =FEAT/VISION/SURFACE POINT/DEFAULT,CARTESIAN
            THEO/<0.01,-0.55,0>,<0,0,1>
            ACTL/<0.01,-0.55,0.0128>,<-0.0000031,-0.0014485,0.999999>
            TARG/<0.01,-0.55,0>,<0,0,1>
            SNAP=NO
            SHOW FEATURE PARAMETERS=YES
              SURFACE=THICKNESS_NONE,0
              MEASURE MODE=NOMINALS
              RMEAS=NONE,NONE,NONE
              PREPOSITION=NO
              GRAPHICAL ANALYSIS=NO
              DIAGNOSTICS=NO
              FEATURE LOCATOR=NO,NO,""
            SHOW_VISION_PARAMETERS=YES
              TYPE=AUTOMATIC HIT TARGET
              MAGNIFICATION=0.7548
              HIT TARGET COLOR=BLACK,NOMINAL COLOR=GREEN
              HIT TARGET=SA1,NO,0.25,0.25
              FOCUS=AUTO,YES,0.1968504,,NONE,-1,-1,-1,NO,Top Light=<OFF,40,OFF>,Bottom Light=<OFF,40,OFF>,Ring Light=<OFF,95,ON>
            MOVE/POINT,NORMAL,<0,0,2>
  • Yeah they won't measure "exactly the same". Vision is a different beast. The -0.0002 is common because vision is picking up many many more hits that your 8 hit cylinder. In addition, to the Z height variation, your vision probe has focus enabled, so that is the depth that it focused on to obtain the diameter it did.
  • Thanks. That's the answer I was looking for.

    So, this means I should re-align the part after switching to vision?
  • No. I don't think you should need to. Your cylinder is only 0.1 long. You could try, but I doubt it will do anything.
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