Creating Recipes and models#

Troubleshooting for the Create a New Recipe section#

Warning

Error while saving

If saving the recipe fails:

Check that there is sufficient space on the disk
Ensure that the name does not contain any inadmissible characters (/ \ : * ? " < > |)
Check that a recipe with the same name does not already exist
Check that you have permission to write on the software folder

Problem	Possible Causes	Solutions
Unable to create new recipe	• Disk full • Recipe name contains inadmissible characters	• Free up disk space • Avoid special characters in the name (/ \ : * ? “ < > \|)
Recipe saved but configurations lost	• Saving not confirmed correctly • Forced software shutdown • Disk write error	• Always click ‘Save Recipe’ and wait for confirmation • Close software correctly • Check Windows error log
Unable to upload created recipe	• Corrupt recipe file • File path changed	• Restore from backup if available • Check recipe folder path in configuration
Loaded recipe has wrong configuration	• Wrong recipe selected • Changes not saved previously • Conflict between recipes with similar names	• Check recipe name in top bar • Reload correct recipe from list • Use unambiguous naming conventions

Problem

Possible Causes

Solutions

Unable to create new recipe

• Disk full

• Recipe name contains inadmissible characters

• Free up disk space

• Avoid special characters in the name (/ \ : * ? “ < > |)

Recipe saved but configurations lost

• Saving not confirmed correctly

• Forced software shutdown

• Disk write error

• Always click ‘Save Recipe’ and wait for confirmation

• Close software correctly

• Check Windows error log

Unable to upload created recipe

• Corrupt recipe file

• File path changed

• Restore from backup if available

• Check recipe folder path in configuration

Loaded recipe has wrong configuration

• Wrong recipe selected

• Changes not saved previously

• Conflict between recipes with similar names

• Check recipe name in top bar

• Reload correct recipe from list

• Use unambiguous naming conventions

Troubleshooting for the Create a New Model section#

Problem	Possible Causes	Solutions
Grab Train Image captures black image	• Camera not connected • Toplight off • Backlight off • Exposure too low • Lens with protective cap	• Check camera connection in Camera Setup • Switch on toplight and check power supply • Check that light on in FlexiBowl® Configuration is ticked • Increase camera exposure • Remove lens cap
ROI does not move or resize	• Image not captured • Software blocked	• Run Grab Train Image first • Reboot software
Apply Train does not generate model	• ROI too small • Image without sufficient contrast	• Enlarge ROI to include the whole component • Improve contrast/illumination
Model created includes surface texture	• Feature Threshold too low • Insufficient component-surface contrast	• Increase Feature Threshold (e.g.: from 0.3 to 0.6) • Improve lighting to increase contrast
Model created has too few lines	• Feature Threshold too high • Blurred image • Image without sufficient contrast	• Decrease Feature Threshold (e.g.: from 0.8 to 0.5) • Check camera focus and correct if necessary • Improve contrast/illumination
Model includes light reflections	• Feature Threshold too low • Uneven lighting	• Increase Feature Threshold • Adjust toplight position/angle
Unable to name model	• Name contains inadmissible characters • Name too long	• Use only letters, numbers, underscores and hyphens • Limit name to max 50 characters

Problem

Possible Causes

Solutions

Grab Train Image captures black image

• Camera not connected

• Toplight off

• Backlight off

• Exposure too low

• Lens with protective cap

• Check camera connection in Camera Setup

• Switch on toplight and check power supply

• Check that light on in FlexiBowl® Configuration is ticked

• Increase camera exposure

• Remove lens cap

ROI does not move or resize

• Image not captured

• Software blocked

• Run Grab Train Image first

• Reboot software

Apply Train does not generate model

• ROI too small

• Image without sufficient contrast

• Enlarge ROI to include the whole component

• Improve contrast/illumination

Model created includes surface texture

• Feature Threshold too low

• Insufficient component-surface contrast

• Increase Feature Threshold (e.g.: from 0.3 to 0.6)

• Improve lighting to increase contrast

Model created has too few lines

• Feature Threshold too high

• Blurred image

• Image without sufficient contrast

• Decrease Feature Threshold (e.g.: from 0.8 to 0.5)

• Check camera focus and correct if necessary

• Improve contrast/illumination

Model includes light reflections

• Feature Threshold too low

• Uneven lighting

• Increase Feature Threshold

• Adjust toplight position/angle

Unable to name model

• Name contains inadmissible characters

• Name too long

• Use only letters, numbers, underscores and hyphens

• Limit name to max 50 characters

Troubleshooting for the ROI and Tolerance Definition section#

Problem	Possible Causes	Solutions
Test does not detect any components	• Accept Threshold too high • Components outside the Region Search • Incorrect model • Lighting changed compared to training	• Decrease Accept Threshold (e.g.: from 0.90 to 0.75) • Enlarge Region Search to include components • Repeat model training • Stabilise lighting
Test detects too many false positives	• Accept Threshold too low • Model too simple/generic • There are very similar components but at the same time with many differences	• Increase Accept Threshold (e.g.: from 0.70 to 0.85) • Redo model with lower Feature Threshold (more detailed) • Separate into different models if necessary
Test detects components but scores too low	• Variability real components vs. training model • Different lighting • Components dirty/damaged • Model too detailed	• Check component quality and clean if necessary • Standardise lighting • Discard damaged components • Redo model with higher Feature Threshold (less detailed)
Results Panel empty even with visible components	• No component exceeds Accept Threshold • Region Search does not include components • Test not performed	• Decrease Accept Threshold • Check and expand Region Search • Click Test button
Incorrect X,Y,Rotation coordinates	• Camera calibration not performed or performed incorrectly • Incorrect reference system • Camera moved after calibration	• Perform full camera calibration or review current one • Check coordinate system origin • Repeat camera calibration

Problem

Possible Causes

Solutions

Test does not detect any components

• Accept Threshold too high

• Components outside the Region Search

• Incorrect model

• Lighting changed compared to training

• Decrease Accept Threshold (e.g.: from 0.90 to 0.75)

• Enlarge Region Search to include components

• Repeat model training

• Stabilise lighting

Test detects too many false positives

• Accept Threshold too low

• Model too simple/generic

• There are very similar components but at the same time with many differences

• Increase Accept Threshold (e.g.: from 0.70 to 0.85)

• Redo model with lower Feature Threshold (more detailed)

• Separate into different models if necessary

Test detects components but scores too low

• Variability real components vs. training model

• Different lighting

• Components dirty/damaged

• Model too detailed

• Check component quality and clean if necessary

• Standardise lighting

• Discard damaged components

• Redo model with higher Feature Threshold (less detailed)

Results Panel empty even with visible components

• No component exceeds Accept Threshold

• Region Search does not include components

• Test not performed

• Decrease Accept Threshold

• Check and expand Region Search

• Click Test button

Incorrect X,Y,Rotation coordinates

• Camera calibration not performed or performed incorrectly

• Incorrect reference system

• Camera moved after calibration

• Perform full camera calibration or review current one

• Check coordinate system origin

• Repeat camera calibration

Troubleshooting for the Histograms section#

Problem	Possible Causes	Solutions
Cannot enable histogram	• Model not identified • Maximum histogram limit reached (8 per model) • Slot already occupied	• Complete model configuration first • Disable unused histograms • Select free slot
AUTO does not calculate correctly	• Histogram area too small • Histogram outside the image • Image not loaded	• Enlarge histogram area • Move histogram within visible area • Capture new image
Test always RED even with area clear	• AUTO calibration performed with area occupied • Shadow or reflection in the area • FlexiBowl® border included in the area • Dirt on surface	• Repeat AUTO with area completely clear • Exclude areas with shadows/reflections • Reduce area excluding borders • Clean FlexiBowl® surface
Test always GREEN even with area occupied	• AUTO calibration performed with components already present • Badly calculated thresholds • Insufficient contrast	• Repeat AUTO making sure area is completely empty • Repeat calibration with stable lighting • Improve lighting contrast
Histogram triggers accidentally	• Too large an area includes variable zones • Unstable lighting • Threshold too narrow	• Reduce area to minimum necessary • Stabilise lighting • Repeat AUTO calibration
Histogram does not trigger when it should	• Area too small does not include obstacle • Threshold too permissive	• Enlarge histogram area • Repeat AUTO calibration with higher contrast
Unable to create second histogram for gripper	• Wrong histogram slot selected	• Go back to list and select Histogram 2
Multiple histogram test does not work	• Not all histograms enabled • Incomplete configuration • Conflict between histograms	• Check that all required histograms are enabled • Complete AUTO configuration for each histogram • Check that areas do not overlap

Problem

Possible Causes

Solutions

Cannot enable histogram

• Model not identified

• Maximum histogram limit reached (8 per model)

• Slot already occupied

• Complete model configuration first

• Disable unused histograms

• Select free slot

AUTO does not calculate correctly

• Histogram area too small

• Histogram outside the image

• Image not loaded

• Enlarge histogram area

• Move histogram within visible area

• Capture new image

Test always RED even with area clear

• AUTO calibration performed with area occupied

• Shadow or reflection in the area

• FlexiBowl® border included in the area

• Dirt on surface

• Repeat AUTO with area completely clear

• Exclude areas with shadows/reflections

• Reduce area excluding borders

• Clean FlexiBowl® surface

Test always GREEN even with area occupied

• AUTO calibration performed with components already present

• Badly calculated thresholds

• Insufficient contrast

• Repeat AUTO making sure area is completely empty

• Repeat calibration with stable lighting

• Improve lighting contrast

Histogram triggers accidentally

• Too large an area includes variable zones

• Unstable lighting

• Threshold too narrow

• Reduce area to minimum necessary

• Stabilise lighting

• Repeat AUTO calibration

Histogram does not trigger when it should

• Area too small does not include obstacle

• Threshold too permissive

• Enlarge histogram area

• Repeat AUTO calibration with higher contrast

Unable to create second histogram for gripper

• Wrong histogram slot selected

• Go back to list and select Histogram 2

Multiple histogram test does not work

• Not all histograms enabled

• Incomplete configuration

• Conflict between histograms

• Check that all required histograms are enabled

• Complete AUTO configuration for each histogram

• Check that areas do not overlap

Troubleshooting for the Robot Pick Calibration section#

Problem	Possible Causes	Solutions
Robot coordinates not available (lost/forgotten)	• Not noted during physical preparation • Lost note sheet • Coordinates overwritten	• MANDATORY: Repeat the entire physical preparation from point 1 to point 9 of Creating Model • Save coordinates in digital files as well as on paper • Take a picture of pendant robot display
Find Object does not detect component	• Reference component moved • Accept Threshold too high • Component outside Region Search	• Verify reference component position • Temporarily lower Accept Threshold • Check Region Search includes component
Vision Result shows wrong coordinates	• Camera calibration not performed • Coordinate system not configured • Camera moved after calibration	• Perform camera calibration before Robot Pick • Check reference system origin • Repeat camera calibration
Unable to enter robot coordinates	• Blocked fields • Enable Robot Pick not activated • Wrong number format	• Click Enable Robot Pick first • Activate fields by clicking on them • Use point as decimal separator
Gripper Offset calculates absurd values	• Robot coordinates entered incorrectly • X and Y swapped • Wrong +/- sign • Incorrect or approximate decimals	• CRITICAL: Check each coordinate carefully • Check order X, Y, RZ • Check coordinate signs • Copy values exactly as noted without approximations
Robot picks at wrong positions after calibration	• Robot coordinates noted were wrong • Robot Frame/Tool changed after annotation • Reference component was moved during annotation • Gripper Offset not saved	• Repeat physical preparation verifying correct Frame/Tool • Ensure same Frame/Tool for annotation and picking • Repeat setup with correctly positioned component • Save recipe after calculating Gripper Offset
Robot offset only valid for reference component	• High optical distortion • Camera calibration inaccurate • Region Search too large compared to calibration	• Improve camera calibration • Use low-distortion lens • Reduce Region Search if possible
Unable to save Gripper Offset	• Recipe not uploaded • Insufficient permissions • Disk full	• Check correctly loaded recipe • Verify write permissions • Free disk space
Robot RZ rotation always incorrect	• RZ robot was not at 0° during setup • Last robot axis incorrect • Rotated coordinate system	• Repeat setup bringing last robot axis to RZ=0° • Check that the selected tool is correct • Check coordinate system orientation

Problem

Possible Causes

Solutions

Robot coordinates not available (lost/forgotten)

• Not noted during physical preparation

• Lost note sheet

• Coordinates overwritten

• MANDATORY: Repeat the entire physical preparation from point 1 to point 9 of Creating Model

• Save coordinates in digital files as well as on paper

• Take a picture of pendant robot display

Find Object does not detect component

• Reference component moved

• Accept Threshold too high

• Component outside Region Search

• Verify reference component position

• Temporarily lower Accept Threshold

• Check Region Search includes component

Vision Result shows wrong coordinates

• Camera calibration not performed

• Coordinate system not configured

• Camera moved after calibration

• Perform camera calibration before Robot Pick

• Check reference system origin

• Repeat camera calibration

Unable to enter robot coordinates

• Blocked fields

• Enable Robot Pick not activated

• Wrong number format

• Click Enable Robot Pick first

• Activate fields by clicking on them

• Use point as decimal separator

Gripper Offset calculates absurd values

• Robot coordinates entered incorrectly

• X and Y swapped

• Wrong +/- sign

• Incorrect or approximate decimals

• CRITICAL: Check each coordinate carefully

• Check order X, Y, RZ

• Check coordinate signs

• Copy values exactly as noted without approximations

Robot picks at wrong positions after calibration

• Robot coordinates noted were wrong

• Robot Frame/Tool changed after annotation

• Reference component was moved during annotation

• Gripper Offset not saved

• Repeat physical preparation verifying correct Frame/Tool

• Ensure same Frame/Tool for annotation and picking

• Repeat setup with correctly positioned component

• Save recipe after calculating Gripper Offset

Robot offset only valid for reference component

• High optical distortion

• Camera calibration inaccurate

• Region Search too large compared to calibration

• Improve camera calibration

• Use low-distortion lens

• Reduce Region Search if possible

Unable to save Gripper Offset

• Recipe not uploaded

• Insufficient permissions

• Disk full

• Check correctly loaded recipe

• Verify write permissions

• Free disk space

Robot RZ rotation always incorrect

• RZ robot was not at 0° during setup

• Last robot axis incorrect

• Rotated coordinate system

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

• Check that the selected tool is correct

• Check coordinate system orientation

Creating Recipes and models

Contents

Creating Recipes and models#

Troubleshooting for the Create a New Recipe section#

Troubleshooting for the Create a New Model section#

Troubleshooting for the ROI and Tolerance Definition section#

Troubleshooting for the Histograms section#

Troubleshooting for the Robot Pick Calibration section#