Robot Pick Calibration#

This page explains how to connect vision coordinates with robot coordinates to allow accurate component picking.

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

Danger

Robot coordinates are mandatory

This phase REQUIRES the X, Y, and Rz coordinates saved during the physical setup preparation, Step 1 of the Clearances section.

Without these coordinates, calibration cannot be completed. If they were lost or forgotten, the entire physical robot preparation must be repeated.

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 entered manually
Insert Robot Coordinate	Y cord	Robot Y coordinate to be entered manually
Insert Robot Coordinate	RZ cord	Robot Z rotation to be entered manually

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

Step 1: Activate and detect the component#

Click Enable Robot Pick

Click :

The system detects the reference component
The coordinates appear in the Vision Result section

Note

Vision Result These are the coordinates FlexiVision One “sees” in the image. They are not yet linked to the robot coordinate system.

Step 2: Enter robot coordinates and calculate the offset#

In the Insert Robot Coordinates box, enter the coordinates saved during model creation:

X cord -> X coordinate noted in Step 1 of Clearance Creation
Y cord -> Y coordinate noted in Step 1 of Clearance Creation
RZ cord -> Z rotation noted in Step 1 of Clearance Creation

Danger

Use the coordinates saved during model setup. Without these coordinates, calibration will be wrong.
Coordinates must be entered with maximum precision:

Copy the values exactly as written, including decimals
DO NOT round them, for example 450.23 is not the same as 450.2 or 450
Verify that X and Y have not been swapped
Check the sign of each coordinate, positive or negative

Errors at this stage cause completely incorrect robot offsets, resulting in pick attempts in the wrong positions, even with errors of several centimeters. Failing to respect these points may also cause robot collisions and damage to the FlexiBowl, components, or the robot itself.

Click

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

How the Gripper Offset works

The system compares:

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

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

Step 3: Finalization and saving#

5	By clicking , the workflow returns to the recipes page
6	Click to save the full configuration Complete save The save includes: ✓ created model ✓ working area, ROI ✓ tolerances, Accept Threshold ✓ configured Clearances ✓ robot calibration, Gripper Offset

Multiple models - add additional models#

Step 4: Additional models, optional#

To create additional models in the same recipe:

Return to
Select a new model slot that has not yet been configured
Repeat the entire procedure starting from Model Creation

Tip

Each model inside the recipe can have different settings, such as ROI, Clearance, and offset, allowing management of components with different characteristics within the same application.

Final verification#

Before considering the recipe complete, continue with: