EPSON 利用CCD图像处理包标定工具坐标系

     EPSON 利用CCD图像处理包标定工具坐标系

     仰视式安装的相机可以用来计算工具偏移，下例使用仰视式相机来计算工具偏移。该功能首先运行一个序列来定位工具的尖端。然后计算出工具偏移（前提是CCD已标定）。

Function CalcTool  
   Boolean found
   Real x, y, u
   Real x0, y0, u0
   Real xTool, yTool, rTool, theta
   Tool 0

     VRun findTip
     VGet findTip.tip.RobotXYU, found, x, y, u
        If found Then
             ' Get the TOOL 0 position
           x0 = CX(P*)
           y0 = CY(P*)
           u0 = CU(P*)
             ' Calculate initial tool offsets
             ' X and Y distance from tip found with vision
             ' to center of U axis
           xTool = x - x0
           yTool = y - y0
             ' Calculate angle at initial offsets
           theta = Atan2(xTool, yTool)
             ' Calculate angle of tool when U is at zero degrees
           theta = theta