Relationship of Tips and Tools

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?

Parents

AnOldUR over 7 years ago

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>

Reply

AnOldUR over 7 years ago

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>

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