Doosan M0609 Reference Manual page 104

No.
1 Add Presence Tool
2
3
4 Move Teaching Area
5 Adjust Teaching Area Size
Edit Job Name – Edit
6
7
Histogram Min/Max
8
Area Tolerance Limit
9
10
11
Doosan Robotics Reference Manual v1.5
Item
Adds a Presence Tool to the Vision Tool List.
A setting window of the job selected from the Vision Tool List is
Edit
displayed.
Delete The selected job from the Vision Job List is deleted.
Press and hold the arrow to move the teaching area.
Press and hold the arrow to adjust the teaching area size.
A virtual keyboard is displayed, and the job name can be edited.
Window
 Press the Apply button to apply the setting.
Checks the histogram distribution of edges within the Presence
Calculate
Tool teaching area.
Slide the horizontal Histogram Min/Max bar to adjust the
detection level of desired edges.
 Presence check uses histogram check. A histogram is list of
the distribution of brightness of pixels within a measurement
area from 0 to 255. If the measurement area is completely
white, the brighter area (255) value in the histogram becomes
larger, and if the measurement area is completely black, the
darker area (0) value becomes larger.
Setting
 You can adjust the range of pixels to the desired brightness
using the blue button. If the button reaches the end points (0,
255), it obtains all pixel values within the measurement area.
 For example, positioning the blue button between 1 and 2 will
only obtain pixels with brightness corresponding to 1 and 2.
 The tolerance is immediately applied when the button is
pressed.
Enter the pixel value allowed within the detected area in the edit
window. Values exceeding the value range entered are not
detected.
 Area displays the number of pixels corresponding to the
brightness value set using the blue button (0-255).
Setting
 If the value exceeds the Area Tolerance range, it is considered
that the histogram is not similar, and the measurement fails. If a
value exceeds the Test tolerance range, the inspection result
outputs 0.
 Press the Apply button to apply the setting.
Apply Applies Vision Job settings.
Cancel Cancels Vision Job Tool settings.
Description
104