Recipe and Model Creation#

Troubleshooting for Create a New Recipe#

Warning

Error during save

If recipe saving fails:

Verify that there is enough free disk space
Make sure the name does not contain forbidden characters, / \\ : * ? " < > |
Verify that no recipe with the same name already exists
Verify that you have write permissions on the software folder

Problem	Possible Causes	Solutions
Impossible to create a new recipe	• Disk full • Recipe name contains forbidden characters	• Free disk space • Avoid special characters in the name, `/ \\ : * ? " < > \|`
Recipe saved but settings are lost	• Save not confirmed correctly • Forced software shutdown • Disk write error	• Always click `"Save Recipe"` and wait for confirmation • Close the software correctly • Check Windows error logs
Impossible to load the created recipe	• Corrupted recipe file • File path changed	• Restore from backup if available • Verify the configured recipe folder path
Loaded recipe contains wrong settings	• Wrong recipe selected • Previous changes not saved • Conflict between recipes with similar names	• Verify the recipe name in the top bar • Reload the correct recipe from the list • Use unique naming conventions

Problem

Possible Causes

Solutions

Impossible to create a new recipe

• Disk full

• Recipe name contains forbidden characters

• Free disk space

• Avoid special characters in the name, / \\ : * ? " < > |

Recipe saved but settings are lost

• Save not confirmed correctly

• Forced software shutdown

• Disk write error

• Always click "Save Recipe" and wait for confirmation

• Close the software correctly

• Check Windows error logs

Impossible to load the created recipe

• Corrupted recipe file

• File path changed

• Restore from backup if available

• Verify the configured recipe folder path

Loaded recipe contains wrong settings

• Wrong recipe selected

• Previous changes not saved

• Conflict between recipes with similar names

• Verify the recipe name in the top bar

• Reload the correct recipe from the list

• Use unique naming conventions

Troubleshooting for Create a New Model#

Problem	Possible Causes	Solutions
Grab Train Image acquires a black image	• Camera not connected • TopLight off • Backlight off • Exposure too low • Lens cap still installed	• Verify camera connection in Camera Setup • Turn on the TopLight and verify its power supply • Check that Light On is enabled in FlexiBowl Configuration • Increase camera exposure • Remove the lens cap
ROI cannot be moved or resized	• Image not acquired • Software frozen	• Execute Grab Train Image first • Restart the software
Apply Train does not generate a model	• ROI too small • Image without enough contrast	• Enlarge ROI so it includes the full component • Improve contrast or illumination
Created model includes surface texture	• Feature Threshold too low • Insufficient contrast between component and surface	• Increase Feature Threshold, for example from `0.3` to `0.6` • Improve lighting to increase contrast
Created model has too few lines	• Feature Threshold too high • Blurred image • Image without enough contrast	• Decrease Feature Threshold, for example from `0.8` to `0.5` • Verify camera focus and correct it if needed • Improve contrast or illumination
Model includes light reflections	• Feature Threshold too low • Non-uniform illumination	• Increase Feature Threshold • Adjust TopLight position or angle
Impossible to assign a model name	• Name contains forbidden characters • Name too long	• Use only letters, numbers, underscores, and hyphens • Limit the name to 50 characters maximum

Problem

Possible Causes

Solutions

Grab Train Image acquires a black image

• Camera not connected

• TopLight off

• Backlight off

• Exposure too low

• Lens cap still installed

• Verify camera connection in Camera Setup

• Turn on the TopLight and verify its power supply

• Check that Light On is enabled in FlexiBowl Configuration

• Increase camera exposure

• Remove the lens cap

ROI cannot be moved or resized

• Image not acquired

• Software frozen

• Execute Grab Train Image first

• Restart the software

Apply Train does not generate a model

• ROI too small

• Image without enough contrast

• Enlarge ROI so it includes the full component

• Improve contrast or illumination

Created model includes surface texture

• Feature Threshold too low

• Insufficient contrast between component and surface

• Increase Feature Threshold, for example from 0.3 to 0.6

• Improve lighting to increase contrast

Created model has too few lines

• Feature Threshold too high

• Blurred image

• Image without enough contrast

• Decrease Feature Threshold, for example from 0.8 to 0.5

• Verify camera focus and correct it if needed

• Improve contrast or illumination

Model includes light reflections

• Feature Threshold too low

• Non-uniform illumination

• Increase Feature Threshold

• Adjust TopLight position or angle

Impossible to assign a model name

• Name contains forbidden characters

• Name too long

• Use only letters, numbers, underscores, and hyphens

• Limit the name to 50 characters maximum

Troubleshooting for ROI Definition and Tolerances#

Problem	Possible Causes	Solutions
Test does not detect any component	• Accept Threshold too high • Components outside the Region Search • Incorrect model • Lighting changed compared with training	• Decrease Accept Threshold, for example from `0.90` to `0.75` • Enlarge Region Search so it includes the components • Repeat model training • Stabilize the lighting
Test detects too many false positives	• Accept Threshold too low • Model too simple or too generic • Components present that are partly similar but also significantly different	• Increase Accept Threshold, for example from `0.70` to `0.85` • Recreate the model with a lower Feature Threshold, more detailed • Split them into separate models if necessary
Test detects components but scores are too low	• Real component variability compared with the training model • Different illumination • Dirty or damaged components • Model too detailed	• Verify component quality and clean them if necessary • Standardize lighting • Reject damaged components • Recreate the model with a higher Feature Threshold, less detailed
Results Panel empty even with visible components	• No component exceeds the Accept Threshold • Region Search does not include the components • Test not executed	• Decrease Accept Threshold • Verify and enlarge the Region Search • Click the Test button
X, Y, Rotation coordinates incorrect	• Camera calibration not performed or performed badly • Wrong reference system • Camera moved after calibration	• Perform complete camera calibration or review the current one • Verify the coordinate system origin • Repeat camera calibration

Problem

Possible Causes

Solutions

Test does not detect any component

• Accept Threshold too high

• Components outside the Region Search

• Incorrect model

• Lighting changed compared with training

• Decrease Accept Threshold, for example from 0.90 to 0.75

• Enlarge Region Search so it includes the components

• Repeat model training

• Stabilize the lighting

Test detects too many false positives

• Accept Threshold too low

• Model too simple or too generic

• Components present that are partly similar but also significantly different

• Increase Accept Threshold, for example from 0.70 to 0.85

• Recreate the model with a lower Feature Threshold, more detailed

• Split them into separate models if necessary

Test detects components but scores are too low

• Real component variability compared with the training model

• Different illumination

• Dirty or damaged components

• Model too detailed

• Verify component quality and clean them if necessary

• Standardize lighting

• Reject damaged components

• Recreate the model with a higher Feature Threshold, less detailed

Results Panel empty even with visible components

• No component exceeds the Accept Threshold

• Region Search does not include the components

• Test not executed

• Decrease Accept Threshold

• Verify and enlarge the Region Search

• Click the Test button

X, Y, Rotation coordinates incorrect

• Camera calibration not performed or performed badly

• Wrong reference system

• Camera moved after calibration

• Perform complete camera calibration or review the current one

• Verify the coordinate system origin

• Repeat camera calibration

Troubleshooting for Clearances#

Problem	Possible Causes	Solutions
Impossible to enable the histogram	• Model not recognized • Maximum number of histograms reached, 8 per model • Slot already occupied	• Complete model configuration first • Disable histograms that are not used • Select a free slot
AUTO does not calculate correctly	• Histogram area too small • Histogram outside the image • Image not loaded	• Enlarge the histogram area • Move the histogram inside the visible area • Acquire a new image
Test always RED even with a free area	• AUTO calibration performed with the area occupied • Shadow or reflection in the area • FlexiBowl edge included in the area • Dirt on the surface	• Repeat AUTO with the area completely free • Exclude zones with shadows or reflections • Reduce the area excluding borders • Clean the FlexiBowl surface
Test always GREEN even with an occupied area	• AUTO calibration performed while components were already present • Thresholds calculated incorrectly • Insufficient contrast	• Repeat AUTO making sure the area is completely empty • Repeat calibration with stable lighting • Improve lighting contrast
Histogram triggers randomly	• Area too large and includes variable zones • Unstable lighting • Threshold too tight	• Reduce the area to the minimum necessary • Stabilize the lighting • Repeat AUTO calibration
Histogram does not trigger when it should	• Area too small and does not include the obstacle • Threshold too permissive	• Enlarge the histogram area • Repeat AUTO calibration with higher contrast
Impossible to create a second histogram for the gripper	• Wrong histogram slot selected	• Return to the list and select Histogram 2
Multiple histogram test does not work	• Not all histograms enabled • Incomplete configuration • Conflict between histograms	• Verify that all required histograms are enabled • Complete AUTO configuration for each histogram • Verify that the areas do not overlap

Problem

Possible Causes

Solutions

Impossible to enable the histogram

• Model not recognized

• Maximum number of histograms reached, 8 per model

• Slot already occupied

• Complete model configuration first

• Disable histograms that are not used

• Select a free slot

AUTO does not calculate correctly

• Histogram area too small

• Histogram outside the image

• Image not loaded

• Enlarge the histogram area

• Move the histogram inside the visible area

• Acquire a new image

Test always RED even with a free area

• AUTO calibration performed with the area occupied

• Shadow or reflection in the area

• FlexiBowl edge included in the area

• Dirt on the surface

• Repeat AUTO with the area completely free

• Exclude zones with shadows or reflections

• Reduce the area excluding borders

• Clean the FlexiBowl surface

Test always GREEN even with an occupied area

• AUTO calibration performed while components were already present

• Thresholds calculated incorrectly

• Insufficient contrast

• Repeat AUTO making sure the area is completely empty

• Repeat calibration with stable lighting

• Improve lighting contrast

Histogram triggers randomly

• Area too large and includes variable zones

• Unstable lighting

• Threshold too tight

• Reduce the area to the minimum necessary

• Stabilize the lighting

• Repeat AUTO calibration

Histogram does not trigger when it should

• Area too small and does not include the obstacle

• Threshold too permissive

• Enlarge the histogram area

• Repeat AUTO calibration with higher contrast

Impossible to create a second histogram for the gripper

• Wrong histogram slot selected

• Return to the list and select Histogram 2

Multiple histogram test does not work

• Not all histograms enabled

• Incomplete configuration

• Conflict between histograms

• Verify that all required histograms are enabled

• Complete AUTO configuration for each histogram

• Verify that the areas do not overlap

Troubleshooting for Robot Pick Calibration#

Problem	Possible Causes	Solutions
Robot coordinates not available, lost or forgotten	• Not written down during physical preparation • Note sheet lost • Coordinates overwritten	• MANDATORY: repeat the entire physical preparation from point 1 to point 9 of Model Creation • Save coordinates in a digital file as well as on paper • Take a photo of the robot pendant display
Find Object does not detect the component	• Reference component moved • Accept Threshold too high • Component outside the Region Search	• Verify reference component position • Temporarily lower Accept Threshold • Verify that Region Search includes the component
Vision Result shows incorrect coordinates	• Camera calibration not performed • Coordinate system not configured • Camera moved after calibration	• Perform camera calibration before Robot Pick • Verify the reference system origin • Repeat camera calibration
Impossible to enter robot coordinates	• Fields locked • Enable Robot Pick not activated • Number format incorrect	• Click Enable Robot Pick first • Activate the fields by clicking them • Use a dot as decimal separator
Gripper Offset calculates absurd values	• Robot coordinates entered incorrectly • X and Y swapped • Wrong plus or minus sign • Wrong or rounded decimals	• CRITICAL: verify every coordinate carefully • Check X, Y, RZ order • Verify the signs of the coordinates • Copy the values exactly as written, without rounding
Robot picks in the wrong positions after calibration	• Noted robot coordinates were wrong • Robot Frame or Tool changed after note-taking • Reference component moved during note-taking • Gripper Offset not saved	• Repeat physical preparation verifying correct Frame and Tool • Make sure the same Frame and Tool are used for both note-taking and picking • Repeat the setup with the component positioned correctly • Save the recipe after calculating Gripper Offset
Robot offset valid only for the reference component	• High optical distortion • Inaccurate camera calibration • Region Search too large compared with the calibration quality	• Improve camera calibration • Use a low-distortion lens • Reduce Region Search if possible
Impossible to save Gripper Offset	• Recipe not loaded • Insufficient permissions • Disk full	• Verify that the recipe is loaded correctly • Verify write permissions • Free disk space
Robot RZ rotation always wrong	• Robot RZ was not at `0°` during setup • Wrong robot last axis • Rotated coordinate system	• Repeat setup bringing the robot last axis to `RZ = 0°` • Verify that the selected tool is correct • Verify coordinate system orientation

Problem

Possible Causes

Solutions

Robot coordinates not available, lost or forgotten

• Not written down during physical preparation

• Note sheet lost

• Coordinates overwritten

• MANDATORY: repeat the entire physical preparation from point 1 to point 9 of Model Creation

• Save coordinates in a digital file as well as on paper

• Take a photo of the robot pendant display

Find Object does not detect the component

• Reference component moved

• Accept Threshold too high

• Component outside the Region Search

• Verify reference component position

• Temporarily lower Accept Threshold

• Verify that Region Search includes the component

Vision Result shows incorrect coordinates

• Camera calibration not performed

• Coordinate system not configured

• Camera moved after calibration

• Perform camera calibration before Robot Pick

• Verify the reference system origin

• Repeat camera calibration

Impossible to enter robot coordinates

• Fields locked

• Enable Robot Pick not activated

• Number format incorrect

• Click Enable Robot Pick first

• Activate the fields by clicking them

• Use a dot as decimal separator

Gripper Offset calculates absurd values

• Robot coordinates entered incorrectly

• X and Y swapped

• Wrong plus or minus sign

• Wrong or rounded decimals

• CRITICAL: verify every coordinate carefully

• Check X, Y, RZ order

• Verify the signs of the coordinates

• Copy the values exactly as written, without rounding

Robot picks in the wrong positions after calibration

• Noted robot coordinates were wrong

• Robot Frame or Tool changed after note-taking

• Reference component moved during note-taking

• Gripper Offset not saved

• Repeat physical preparation verifying correct Frame and Tool

• Make sure the same Frame and Tool are used for both note-taking and picking

• Repeat the setup with the component positioned correctly

• Save the recipe after calculating Gripper Offset

Robot offset valid only for the reference component

• High optical distortion

• Inaccurate camera calibration

• Region Search too large compared with the calibration quality

• Improve camera calibration

• Use a low-distortion lens

• Reduce Region Search if possible

Impossible to save Gripper Offset

• Recipe not loaded

• Insufficient permissions

• Disk full

• Verify that the recipe is loaded correctly

• Verify write permissions

• Free disk space

Robot RZ rotation always wrong

• Robot RZ was not at 0° during setup

• Wrong robot last axis

• Rotated coordinate system

• Repeat setup bringing the robot last axis to RZ = 0°

• Verify that the selected tool is correct

• Verify coordinate system orientation

Recipe and Model Creation

Contents

Recipe and Model Creation#

Troubleshooting for Create a New Recipe#

Troubleshooting for Create a New Model#

Troubleshooting for ROI Definition and Tolerances#

Troubleshooting for Clearances#

Troubleshooting for Robot Pick Calibration#