Bottom Vison and part rotating problem

[Melitonas Mikaločius]

Hello,

I have a feeder strip at angle 0 and placement on board at angle -45.

The nozzle picks the part and moves to Bottom camera while rotating it by -45 degrees, then after vision check it is rotating again by -45 degrees (when placed it is rotated by -90 in total).

What could be wrong with my setup?

[Mark]

> what could be wrong with my setup?

 

Have you added proper axis mapping?

 

Like described here:

https://github.com/openpnp/openpnp/wiki/GcodeDriver:-Axis-Mapping

 

 

_Mark

[Marek T.]

If you turn off the pre-rotation the situation is idendical or good then?
If you do the part with 90deg is ok or also rotated 90+90?

[Melitonas Mikaločius]

• When I set the angle to 0 - it is not rotating and is placed at 0 angle (attached image).
• When set to 90 - it is rotated by 90 while moving to camera but not rotated after vision check and placed at 90 angle (attached image)
• When I set it to 22 - then in total it is 44 :).

I think the mapping is correct:

         <axes class="java.util.ArrayList">
            <axis name="x" type="X" home-coordinate="0.0">
               <head-mountable-ids class="java.util.HashSet">
                  <string>*</string>
               </head-mountable-ids>
            </axis>
            <axis name="y" type="Y" home-coordinate="0.0">
               <head-mountable-ids class="java.util.HashSet">
                  <string>*</string>
               </head-mountable-ids>
            </axis>
            <axis name="z" type="Z" home-coordinate="0.0">
               <head-mountable-ids class="java.util.HashSet">
                  <string>N1</string>
                  <string>N2</string>
               </head-mountable-ids>
               <transform class="org.openpnp.machine.reference.driver.GcodeDriver$CamTransform" cam-radius="24.0" cam-wheel-radius="0.0" cam-wheel-gap="0.0">
                  <negated-head-mountable-id>N1</negated-head-mountable-id>
               </transform>
            </axis>
            <axis name="rotation1" type="Rotation" home-coordinate="0.0">
               <head-mountable-ids class="java.util.HashSet">
                  <string>N1</string>
               </head-mountable-ids>
               <pre-move-command><![CDATA[T0]]></pre-move-command>
            </axis>
            <axis name="rotation2" type="Rotation" home-coordinate="0.0">
               <head-mountable-ids class="java.util.HashSet">
                  <string>N2</string>
               </head-mountable-ids>
               <pre-move-command><![CDATA[T1]]></pre-move-command>
            </axis>
         </axes>

​

[Marek T.]

You must wait for Jason probably.
I can check tomorrow if have the same on my machine. I have never used other angles than 0-90-180 so maybe there is some bug... However strange that never reported by anybody.
Check with and without the pre-rotation.

[Melitonas]

Marek, what do you mean with and without the pre-rotation ?

• Job board part rotation
• Rotation in tape
• Bottom camera rotation?

​

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[SMdude]

Machine setup tab > Vision > bottom vision, then you can select/deselect prerotate.

When you move the nozzle to the bottom camera, when you jog left/right, up/down, is the nozzle moving in the same direction as you are jogging? When you rotate does it rotate in the correct direction in the camera view?

[Marek T.]

See in machine_setup/Bottom_vision "Rotate parts prior to vision".

It's "something" what set finaly required rotation before allignment over the bottom camera.

W dniu wtorek, 10 lipca 2018 15:33:33 UTC+2 użytkownik Melitonas Mikaločius napisał:

Marek, what do you mean with and without the pre-rotation ?

• Job board part rotation
• Rotation in tape
• Bottom camera rotation?

​

On Tue, Jul 10, 2018 at 4:23 PM, Marek T. <marek.tw...@gmail.com> wrote:

You must wait for Jason probably.
I can check tomorrow if have the same on my machine. I have never used other angles than 0-90-180 so maybe there is some bug... However strange that never reported by anybody.
Check with and without the pre-rotation.

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[Melitonas]

• unchecked the Rotate parts prior to vision and now it is rotating and placing the resistors correctly
• when the nozzle is in the Bottom Camera and I press arrows it is moving in the same direction in the camera view
• when I rotate the nozzle it is rotating in the oposite direction - maybe need to invert the smoothie config dir pin

​

[Marek T.]

If you have bottom view on the screen and jog head to the left, the picture should move to the right.

Try to check flips in "Camera specific".

[Jason von Nieda]

More info here: https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration%3A-Bottom-Camera-Setup#move-nozzle-to-camera

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[Melitonas]

I created a gif of the moving picture - please check it.

If it is correct it could be added to the wiki. If it is not, I create another one after fixing my setup ;).

On Tue, Jul 10, 2018 at 5:41 PM, Jason von Nieda <ja...@vonnieda.org> wrote:

More info here: https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration%3A-Bottom-Camera-Setup#move-nozzle-to-camera

On Tue, Jul 10, 2018 at 9:39 AM Marek T. <marek.tw...@gmail.com> wrote:

If you have bottom view on the screen and jog head to the left, the picture should move to the right.

Try to check flips in "Camera specific".

W dniu wtorek, 10 lipca 2018 16:24:09 UTC+2 użytkownik Melitonas Mikaločius napisał:

• unchecked the Rotate parts prior to vision and now it is rotating and placing the resistors correctly
• when the nozzle is in the Bottom Camera and I press arrows it is moving in the same direction in the camera view
• when I rotate the nozzle it is rotating in the oposite direction - maybe need to invert the smoothie config dir pin

​

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[Mark]

cool.

[Mark]

As a theoretical foundation for that, I updated the Wiki to make this more clear:

 

https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration:-General-Camera-Setup/_compare/15fdffbd644f5f97fa795bb30a647bfb4a244753

 

Hope this is ok.

 

https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration:-General-Camera-Setup#set-rotation-and-transforms

 

_Mark

[Marek T.]

Let us know if you are fine now with your rotating while the placement.

And better turn on the "rotate prior to vision" after all, it's saving life when using Chinese "Juki" nozzles.

W dniu wtorek, 10 lipca 2018 17:23:13 UTC+2 użytkownik Melitonas Mikaločius napisał:

I created a gif of the moving picture - please check it.

If it is correct it could be added to the wiki. If it is not, I create another one after fixing my setup ;).

On Tue, Jul 10, 2018 at 5:41 PM, Jason von Nieda <ja...@vonnieda.org> wrote:

More info here: https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration%3A-Bottom-Camera-Setup#move-nozzle-to-camera

On Tue, Jul 10, 2018 at 9:39 AM Marek T. <marek.tw...@gmail.com> wrote:

If you have bottom view on the screen and jog head to the left, the picture should move to the right.

Try to check flips in "Camera specific".

W dniu wtorek, 10 lipca 2018 16:24:09 UTC+2 użytkownik Melitonas Mikaločius napisał:

• unchecked the Rotate parts prior to vision and now it is rotating and placing the resistors correctly
• when the nozzle is in the Bottom Camera and I press arrows it is moving in the same direction in the camera view
• when I rotate the nozzle it is rotating in the oposite direction - maybe need to invert the smoothie config dir pin

​

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[Melitonas]

Thank you all for the suggestions! Looks like now after enabling the "rotate prior to vision" it is rotating and placing the resistors good..

Moving forward to different packages and pipelines ;).

BTW I thought the Juki nozzles are the best I can get. Should I look for another manufacturers int the future?

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[Marek T.]

Original Japanese Juki nozzles (US$150) maybe are the best but not Chinese copies (US$15). I think are so many times worse than cheaper from original.

It still depend on the factory who clone it, people here say that some are good but I was no lucky to get that yet.

You can also consider Samsung CP20 (if remember well the number), you will find here the thread about it including discussion about holders for both.

[Jason von Nieda]

Thank you Mark for the Wiki updates, and Melitonas for the GIF! I think both are great. I've posted the GIF right below Mark's modifications in the Wiki: https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration:-General-Camera-Setup#set-rotation-and-transforms

Thanks,

Jason

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[Melitonas]

I think this will help others ;)

Wiki modifications could be duplicated to this page too https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration:-Bottom-Camera-Setup

Regards,
Melitonas

[Melitonas]

Where/how do you upload the images for the wiki? I will do more gifs.

[Mike Menci]

Hello, 

If possible consider to add units for nozzle rotation which are missing (/ xx deg.)  - see enclosed

Mike

[Jason von Nieda]

Hi Melitonas,

The way I normally do is it to make a comment on a throwaway Github issue, drag and drop the image in, then save it, and copy the URL for the Wiki.

Here's the issue I am currently using: https://github.com/openpnp/openpnp/issues/382

You can create a new one or use that one, whatever you prefer.

So, the steps:

1. Scroll to bottom and find text entry field.

2. Drag image into the field. It will automatically upload and turn into a URL.

3. Copy the whole URL to clipboard.

4. Click "Comment" to save it.

5. Paste URL into Wiki page.

Thanks,

Jason

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