Positioning Workpieces For Stage And Robot Applications [Alignment Function]; Overview; Positioning Workpieces For Stage And Robot Applications; [Alignment Function] - Omron FH-1 series User Manual

10-9 Positioning workpieces for stage and
robot applications

[Alignment Function]

An FH/FHV/FZ5-series Controller has an alignment function that you can use to position workpieces for
stage and robot applications (hereafter called external devices).
Alignment executes a combination of more than one processing item.
This section gives an overview of alignment, and provides details on its use in general.
Refer to Vision System FH/FHV/FZ5 Series Processing Item Function Reference Manual (Cat. No.
Z341) for details on the processing items that are used for alignment.

10-9-1 Overview

An FH/FHV/FZ5-series Controller measures the position of alignment marks on the workpiece, or the
position of specific features of the workpiece (such as corners), and outputs the axis movement to a
PLC or stage controller, which aligns the workpiece into a specified position (hereafter called the refer-
ence position).
The PLC or stage controller simply needs to send a movement command to the external device for the
axis movement amount that was output from the FH/FHV/FZ5-series Controller to align the position of
the workpiece.
The following two measurement flows are used to perform alignment. Set both flows for each scene.
• Calibration flow
This flow associates the coordinates of the external device with the Camera coordinates.
• Alignment flow
This flow uses the calibration parameters that were created in the calibration flow to align the position
of the workpiece.
PLC
Required move-
ment (stage or
robot coordinates)
Sensor Controller
Conversion of stage or
robot coordinations from
Camera coordinates
Vision System FH/FHV/FZ5 Series User's Manual (Z365)
Movement command (stage or robot coordinates)
Stage
10 Advanced Usage
Or
Robot
10
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