Robot Pick Calibration#

In this page we will see how to link vision coordinates with robot coordinates to enable precise picking of components.

What is Robot Pick? The Robot Pick function calculates the offset between the coordinates detected by FlexiVision One and the robot’s actual coordinates, allowing the robot to pick the components in the correct position.

Danger

Fundamental robot coordinates!

This phase MANDATORILY requires the X, Y, Rz coordinates saved during the physical preparation of the setup (Step 1 of the Clearances section).

Without these coordinates, the calibration cannot be completed. If they are lost or forgotten, it will be necessary to repeat the entire physical preparation with the robot.

Robot Pick Interface Overview#

After clicking ‘Next’ on the Clearances page, the Robot Model Pick page opens.

Robot Pick Page

Section	Parameter	Function
Enable	Enable Robot Pick	Activates robot calibration
Vision Result	X cord	X coordinate detected by vision
Vision Result	Y cord	Y coordinate detected by vision
Vision Result	RZ cord	Z rotation detected by vision
Insert Robot Coordinate	X cord	Robot X coordinate (to be inserted)
Insert Robot Coordinate	Y cord	Robot Y coordinate (to be inserted)
Insert Robot Coordinate	RZ cord	Robot Z rotation (to be inserted)

Function	Description
Find Object	Detects the component and shows vision coordinates
Picking Offset	Calculates the offset for the correct picking

Step 1: Component Activation and Detection#

Click Enable Robot Pick

Click :

The system will detect the reference component
The coordinates will appear in the Vision Result section

Note

Vision Result: These are the coordinates that FlexiVision One ‘sees’ in the image. They are not yet linked to the robot’s coordinate system.

Tip

If you have any doubts during configuration, please consult the INFO key on the current page.

Step 2: Robot Coordinate Insertion and Offset calculation#

In the Insert Robot Coordinates box, enter the coordinates saved when creating the model:

X cord → X coordinate noted in step 1 of Clearances Creation
Y cord → Y coordinate noted in step 1 of Clearances Creation
RZ cord → Z rotation noted in step 1 of Clearances Creation

Danger

Use the coordinates saved during model setup. Without these coordinates, the calibration will be incorrect! The coordinates must be entered with the utmost precision:

Copy the values exactly as written down (including decimals)
DO NOT approximate (e.g.: 450.23 ≠ 450.2 ≠ 450)
Make sure you haven’t swapped X and Y
Check the sign (+ or -) of each coordinate

Errors at this phase cause completely incorrect robot offsets, resulting in picking attempts in wrong positions (even tens of centimetres of error). Failure to comply with these two points could lead to robot collisions resulting in damage to the FlexiBowl®, components or the robot itself.

Click

The system will automatically calculate the transformation between vision coordinates and robot coordinates
This offset will be applied to all future readings

How Does the Gripper Offset Work?

The system compares:

Vision Coordinates: where FlexiVision One ‘sees’ the origin of the component
Robot Coordinates: where the robot actually grasped the component

It calculates the difference and stores it as an offset. This offset will be applied to all detected components in the future, ensuring that the robot always picks in the correct position.

Tip

If you have any doubts during configuration, please consult the INFO key on the current page.

Step 3: Finalising and Saving#

5	Click to go back to the recipe page
6	Click to save the entire configuration Complete Saving Saving includes: ✓ Model created ✓ Work area (ROI) ✓ Tolerances (Accept Threshold) ✓ Configured clearances ✓ Robot calibration (Gripper Offset)

Multiple Models - Adding More Models#

Step 4: Additional Models (optional)#

To create other models in the same recipe:

Go back to
Select a new, not yet configured model
Repeat the entire procedure from Model Creation

Tip

Each model in the recipe can have different configurations (ROI, clearance, offset), allowing you to manage components with different features in the same application.