PNP First test :)

[Robo]

Hello,

so finally m happy to see pnp in working condition.

here is the link.

https://youtu.be/wDvOjt2GirU

Also need some more efforts to increase accuracy.

still some more mysteries are forcing me to down the work.

1. How to calibrate bottom looking camera.

2. Two head does not work.

3. Not able to setup vacuum sensor for both nozzle

4. How to increase machine speed.

Thanks

 

 

[Robo]

attached xml file

[Eagle Media]

Hello,

Can You please post image of completed machine?

The speed on X&Y is looking ok for me.
What kind of motors are you using on X&Y?

[Robo]

For Y axis 18.5kg/cm and for  X axis 4.5kg/cm

I ll upload photos soon.

[Robo]

Its vision option.. check in feeder tab

On Sunday, July 23, 2017 at 7:31:27 PM UTC+5:30, Cri S wrote:

What is this stange movement after placing part and going to pickup
annother part?
Normally this should be straight line and not two lines.

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[Robo]

Holder image as attached,

if my understanding is right then you are asking something about auto nozzle changer.

yes 2 months back bought magnetic nozzle from aliexpress but stupid seller(CHINA SMT) send holder with wrong dimension. 

so waiting for new holders. 

Thanks

On Sunday, July 23, 2017 at 8:32:34 PM UTC+5:30, Cri S wrote:

As it seem you have the robodigg nozzle holder can i ask about this
and it is possiblt to
do some measuration and maybe tests ?
What screws are usend and how many, M3 M4 ... .
If you make a photo of the nozzle  inside holder and photo of nozzle
without holder where
center of photo image is at the green cap and camera is 90 degree to
nozzle and for
the photo with nozzle holder the screw is visible.
The question is, if the scrwews with spring ball is enought to make a
nozzle changer and
if this idea could work.

2017-07-23 16:51 GMT+02:00, Robo <cheta...@gmail.com>:
> Its vision option.. check in feeder tab
>
> On Sunday, July 23, 2017 at 7:31:27 PM UTC+5:30, Cri S wrote:
>>
>> What is this stange movement after placing part and going to pickup
>> annother part?
>> Normally this should be straight line and not two lines.
>>

>> 2017-07-23 11:53 GMT+02:00, Robo <cheta...@gmail.com <javascript:>>:

>> > For Y axis 18.5kg/cm and for  X axis 4.5kg/cm
>> >
>> > I ll upload photos soon.
>> >
>> > On Sunday, July 23, 2017 at 3:08:03 PM UTC+5:30, Eagle Media wrote:
>> >>
>> >> Hello,
>> >>
>> >> Can You please post image of completed machine?
>> >>
>> >> The speed on X&Y is looking ok for me.
>> >> What kind of motors are you using on X&Y?
>> >>
>> >> 4. How to increase machine speed.
>> >>>
>> >>
>> >
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>>
>>
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>> >
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[Robo]

My personal suggestion is don't go with this holder. Need to adjust all three screw to make nozzle tip centre. Took lots of Time to perform this activity

[Eagle Media]

If You have to center the nozzle manually there is something wrong in this concept.
How do you want to implement nozzle auto change if your nozzle is permanently decentered?

Somebody asked for an option "first Rotate and then vision Align"
This is the way You should work-if you have got misaligned nozzles.

[Eagle Media]

Well, Yes, my question was related to autochange.

I'll take a closer look on this problem little bit later.

Am Sonntag, 23. Juli 2017 20:31:26 UTC+2 schrieb Cri S:

I don't worry about decentering, it could be managed in software if
@EagleMedia question
was related to autochange and possibly decentered nozzles.

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[Trampas Stern]

The autotronix nozzles use ball and o-rings to hold nozzles in. Very simple and it works.

[Jon Elson]

On Sunday, July 23, 2017 at 12:27:03 AM UTC-5, Robo wrote:

Hello,

so finally m happy to see pnp in working condition.

here is the link.

https://youtu.be/wDvOjt2GirU

Also need some more efforts to increase accuracy.

Hmmm, 9 seconds per part, and no alignment.  I guess that will just work for 0805 passives, but not for anything with much higher density.

Jon

[Robo]

Is there any chance to improve accuracy? What kind of possible for misalignment?
Still bottom looking camera calibration is pending. I dont know how to remove distortion.

[Eagle Media]

Hello,

Under the Menue: Machine Setup->Cameras: Select Camera
Under Camera Specific You can find the calibration tool: LENS CALIBRATION.

OR under

General Configuration: Units per Pixel.

PS I have asked You to post some image of the whole machine as I dont understand
why your vision system holds (pause) in the middle of nowhere.

[Eagle Media]

EDIT: OK, I understand, Your vision is looking on the part it will pick up the next.

[Robo]

sorry for delay.. i ll upload full video of my machine in the evening..
Yes it's pause for part vision and position correction

[Robo]

Attached photos

all parts are 3d printed

Thanks

[Eagle Media]

Thank You. How long do You need to print all those parts?

[Robo]

4-5 days including cable chain..
Cable chain took too much time...

Do u know how to increase speed of machine?

[Eagle Media]

You spending ~75% of the time for Pick and Place but 25% of the time for moving the head.
You have to speed up the Z axis with faster stepper:

a) Set-Up higher speed in Software
b) Use another Stepper
c) Use another transmission

[Eagle Media]

About how much runout are we talking about here?

I have got new nema8 hollowshaft stepper with 10-20µ runout.

Am Sonntag, 23. Juli 2017 20:31:26 UTC+2 schrieb Cri S:

I don't worry about decentering, it could be managed in software if
@EagleMedia question
was related to autochange and possibly decentered nozzles.


2017-07-23 20:13 GMT+02:00, Eagle Media <in...@eagle-media.net>:

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[Eagle Media]

Hello, There is some misunderstandanding here.
I'm talking about Radial Run-Out of the nozzle, which should me as little as it's posible.

Am Dienstag, 25. Juli 2017 16:42:25 UTC+2 schrieb phon...@gmail.com:

@EagleMedia

With prerotate and PR #605 applied and configured, runout could be in the range of cm and it could pick and place 0201 reliable.

It is clear that it should be in the range of some mm and not cm in order to allow having bigger chips inside camera view.

Cri.S

[Robo]

still no reply for How to calibrate bottom looking camera. calibration image cant fit on my camera.

i think its creating issue while pickup of part.

On Wednesday, July 26, 2017 at 4:20:41 AM UTC+5:30, phon...@gmail.com wrote:

vision procession and it was realized if the wrong idea was not tryed 
out including longer 

sorry typo:

vision procession and it was not realized if the wrong idea was not tryed 
out, including longer 

[Robo]

See,

downloaded calibration image, but its single dot fit in to my camera. even if i try to resize image size i need to reduce 90% size of calibration image, and after reducing size, calibration does not work

Thanks

On Saturday, July 29, 2017 at 11:11:35 PM UTC+5:30, Cri S wrote:

check out my third response, do it and then redo the camera dimension wizard.
That is all.

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[Robo]

Attached photo, and 75mm  height from smd tray

i am using ELP camera with 12mm of lens.

https://www.aliexpress.com/item/1080p-hd-mini-micro-camera-mjpeg-usb2-0-uvc-webcam-module-ELP-USBFHD01M-L36/32261191143.html?spm=a2g0s.9042311.0.0.AnX9oj

Thanks

On Sunday, July 30, 2017 at 6:11:03 PM UTC+5:30, Cri S wrote:

for both cameras.

2017-07-30 14:40 GMT+02:00, Cri S <phon...@gmail.com>:
> What is you'r  FOV (x and y mm) or pixel/mm and how many pixels the
> camera have ?

>
>
> 2017-07-30 13:39 GMT+02:00, Robo <cheta...@gmail.com>:
>> See,
>>
>> downloaded calibration image, but its single dot fit in to my camera.
>> even
>> if i try to resize image size i need to reduce 90% size of calibration
>> image, and after reducing size, calibration does not work
>>
>> Thanks
>>
>> On Saturday, July 29, 2017 at 11:11:35 PM UTC+5:30, Cri S wrote:
>>>
>>> check out my third response, do it and then redo the camera dimension
>>> wizard.
>>> That is all.
>>>

>>> 2017-07-29 19:35 GMT+02:00, Robo <cheta...@gmail.com <javascript:>>:

>>> > still no reply for How to calibrate bottom looking camera. calibration
>>> > image cant fit on my camera.
>>> >
>>> > i think its creating issue while pickup of part.
>>> >
>>> > On Wednesday, July 26, 2017 at 4:20:41 AM UTC+5:30, phon...@gmail.com
>>> > wrote:
>>> >>
>>> >> vision procession and it was realized if the wrong idea was not tryed
>>> >> out including longer
>>> >>
>>> >> sorry typo:
>>> >>
>>> >> vision procession and it was not realized if the wrong idea was not
>>> tryed
>>> >>
>>> >> out, including longer
>>> >>
>>> >>>
>>> >>>
>>> >
>>> > --
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>>> Groups
>>> > "OpenPnP" group.
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>>> an

>>> > email to openpnp+u...@googlegroups.com <javascript:>.

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>>> >
>>> https://groups.google.com/d/msgid/openpnp/22df7aab-fab6-4b70-993c-347229a6a40c%40googlegroups.com.
>>>
>>>
>>> > For more options, visit https://groups.google.com/d/optout.
>>> >
>>>
>>
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[Robo]

is attached image is ok ?

On Sunday, July 30, 2017 at 7:44:32 PM UTC+5:30, Cri S wrote:

Please indicate Field Of View (mm x mm) or  pixels and real
unit_per_pixel as previously
requested.

From you'r image i see 19mm height approx and from the unit_per_pixel
it is 504 pixel
height, that cannot be true.

2017-07-30 15:58 GMT+02:00, Robo <cheta...@gmail.com>:
> Attached photo, and 75mm  height from smd tray
>
> i am using ELP camera with 12mm of lens.
>
> https://www.aliexpress.com/item/1080p-hd-mini-micro-camera-mjpeg-usb2-0-uvc-webcam-module-ELP-USBFHD01M-L36/32261191143.html?spm=a2g0s.9042311.0.0.AnX9oj
>
> Thanks
>
> On Sunday, July 30, 2017 at 6:11:03 PM UTC+5:30, Cri S wrote:
>>
>> for both cameras.
>>

>> 2017-07-30 14:40 GMT+02:00, Cri S <phon...@gmail.com <javascript:>>:

>> > What is you'r  FOV (x and y mm) or pixel/mm and how many pixels the
>> > camera have ?
>> >
>> >

>> > 2017-07-30 13:39 GMT+02:00, Robo <cheta...@gmail.com <javascript:>>:

>> https://groups.google.com/d/msgid/openpnp/aca90c7e-c351-444f-80f0-16469ea09376%40googlegroups.com.
>>
>>
>> >> For more options, visit https://groups.google.com/d/optout.
>> >>
>> >
>>
>
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[Robo]

as on now, i have not calibrated up-looking camera.

On Sunday, July 30, 2017 at 10:32:09 PM UTC+5:30, Cri S wrote:

and how many pixels the camera have in X and Y directions ?
Can you provide the same info for the other camera?

2017-07-30 18:51 GMT+02:00, Robo <cheta...@gmail.com>:
> is attached image is ok ?
>
> On Sunday, July 30, 2017 at 7:44:32 PM UTC+5:30, Cri S wrote:
>>
>> Please indicate Field Of View (mm x mm) or  pixels and real
>> unit_per_pixel as previously
>> requested.
>>
>> From you'r image i see 19mm height approx and from the unit_per_pixel
>> it is 504 pixel
>> height, that cannot be true.
>>
>>
>>
>>

>> 2017-07-30 15:58 GMT+02:00, Robo <cheta...@gmail.com <javascript:>>:

>> https://groups.google.com/d/msgid/openpnp/d47a876f-b75e-46b8-a03e-03fa4a315f0b%40googlegroups.com.
>>
>>
>> > For more options, visit https://groups.google.com/d/optout.
>> >
>>
>
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[Jason von Nieda]

Down looking (top vision) camera does not usually need calibration, and yours looks pretty good. If you want to calibrate it anyway, you can do it two different ways:

1. Scale the calibration image down so it fill fit in the viewport.

2. Unmount the camera so you can point it at the image further away.

Either should work fine.

Up looking (bottom vision) camera should typically be calibrated, and this is easier since you can just hold the image where you need it.

If you are having a specific problem with your down looking camera, let us know what the issue is. You may not need calibration at all, could be something else.

Jason

To view this discussion on the web visit https://groups.google.com/d/msgid/openpnp/b99ba303-967e-477c-861c-b855f0f69823%40googlegroups.com.

[Robo]

Here is the issue,

1. Ruler not matching with scale, Also camera jogging not working properly. while pointing some point it traveling near by location, may be with 0.5 or 1 mm of error.

2. See attached images also pickup location changing constantly.

On Sunday, July 30, 2017 at 11:36:55 PM UTC+5:30, Cri S wrote:

On my experience strip feeder and loose feeder need calibrated down camera,.

>> <https://groups.google.com/d/msgid/openpnp/b99ba303-967e-477c-861c-b855f0f69823%40googlegroups.com?utm_medium=email&utm_source=footer>

>> .
>> For more options, visit https://groups.google.com/d/optout.
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[Robo]

On Sunday, July 23, 2017 at 10:57:03 AM UTC+5:30, Robo wrote:

Hello,

so finally m happy to see pnp in working condition.

here is the link.

https://youtu.be/wDvOjt2GirU

Also need some more efforts to increase accuracy.

still some more mysteries are forcing me to down the work.

1. How to calibrate bottom looking camera.

2. Two head does not work.

3. Not able to setup vacuum sensor for both nozzle

4. How to increase machine speed.

Thanks

 

 

[Jason von Nieda]

Calibration will improve the ruler issue, see my previous comment about scaling the calibration image.

The second issue looks okay to me. The circles are where they should be. OpenPnP does not center on the selected circle after vision, it just uses the data to offset the pick. Are you getting pick failures?

I suggest running lens calibration with the scaled template and see if that helps.

Jason

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[Robo]

1. Scale the calibration image down so it fill fit in the viewport. - Scaled down upto 20% of actual image, but after scaling down image camera does not detect image.

2. Unmount the camera so you can point it at the image further away. - previously did the same thing. but created more distortion to camera. so again reseted all camera setting.

3. OpenPnP does not center on the selected circle after vision, it just uses the data to offset the pick. Are you getting pick failures? - yes some time, check my first post video, first part skipped.

thanks

[Robo]

After calibration

[Robo]

Cri S,

Here is the result after calibration.

still ruler not matching with scale. 

m confused whether i am missing something or not. just took print. kept on flat surface and clicked on calibration button. changed all possible angle and moved image in all direction. and still............. :(

On Monday, July 31, 2017 at 10:43:15 PM UTC+5:30, Cri S wrote:

If you have problems to scale it down:

[Marek T.]

Sorry Robo, maybe you did it already... the Lens calibration removes "only" the lens' distortions but Width/Length/Measure in General Configuration must be performed to tell the Openpnp how many pixels of the camera is making real scale.
Have you done it or gone to the LensCalibrations without this?

[Jason von Nieda]

Note: you must perform lens calibration before units per pixel settings, and you just redo units per pixel when you change the lens calibration.

So, perform lens calibration which should remove distortion, then units per pixel which will set the ruler size.

Jason

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[Robo]

Yes , already performed by setting up pixel by 15x15 mm of block. Check my previous posts

[Robo]

Outside openpnp? Are you using other software?

[Jason von Nieda]

I was in a hurry with my last message, so let me clarify:

Lens calibration removes distortion, only. To determine if you need it, turn off lens calibration and put a piece of graph paper down and look at it with the camera. If the lines on the paper curve near the edges of the screen you need to calibrate the lens. After calibrating it the lines should be very close to straight.

See https://github.com/openpnp/openpnp/wiki/Camera-Lens-Calibration for this step, and the video that demonstrates the process: https://www.youtube.com/watch?v=LNa2LNSpa68

Units per pixel tells OpenPnP how many pixels make up a millimeter. This must be done AFTER lens calibration, since lens calibration changes the image. Once you determine if you need lens calibration, and perform it, then you calibrate units per pixel. That is described at https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration%3A-General-Camera-Setup#set-units-per-pixel

After that, lines on graph paper should be straight and the ruler should match quite closely. It will likely not be perfect, but as long as the central 10mm radius or so is good it should work well. It's common for there still to be a little distortion around the edges, but it should be minimal.

So, in summary:

1. Determine if you need lens calibration.

2. Perform lens calibration if you need it, or turn it off if you don't.

3. Perform units per pixel setup.

Jason

On Mon, Jul 31, 2017 at 1:30 PM Robo <cheta...@gmail.com> wrote:

Outside openpnp? Are you using other software?

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[Marek T.]

Sorry for my not precise appointment. Just wanted to tell that the only lens calibration is not enough but the pixels must be mainly setup. Procedure is very intuitive and really hard to do it wrong if going with manual step by step.

[SMdude]

Robo, to calibrate the pixle/mm for the bottom camera, I first got it close by moving a part over the bottom camera on the nozzle and measured that.
Then to fine tune the pix/mm I jogged the nozzle 1mm at a time over the bottom camera and manually adjusted the pix/mm until the nozzle lined up properly with each of the ticks on the scale.

[Robo]

SO, after long time got the time to play with machine,

Please check attached image. is it good calibration or not ? i think image shrinking may resolve the issue. is there any same functionality in Openpnp ?

Thanks.

[Robo]

Hey,

Did manual pixel setting and got the good result.

You can check attached image.

again i ll do camera calibration and perform manual pixel setting as for some quadrant jogging not working properly, i think because of some issue with lens callibration. 

Thanks again.