MM/Pixel

Nicely done so far! You've got your homing fiducial all set up. This next step calibrates the relationship between pixels and millimeters to make our cameras more accurate. You might have found that if you drag the reticle on the camera view around, the LumenPnP will move to the highlighted location. But you have probably also found that the movement is not very precise. We'll be fixing that in this calibration. See also our setup video.

Top Camera Calibration

1. Click on the Machine Setup tab in the top right pane.

2. Click on the "Expand" checkbox to open all of the features about your machine.

3. Click on Heads > ReferenceHead H1.

4. Click on the "Position Camera over location" icon button show below. This will move the top camera to where your datum board is mounted.

5. Click on Heads > ReferenceHeadH1 > Cameras > OpenPnPCaptureCamera Top.

6. Go to the General Configuration tab.

7. Scroll down to Units Per Pixel.

8. Set the X and Y Object Dimensions to 5.

9. Jog the machine so that one of the golden guideline squares on the datum board are visible in the top camera's view. The whole square must be visible. Zoom out of the camera feed with the scroll wheel if necessary.

10. Then click the Measure button.

11. A box with drag handles will appear in the camera view. Drag the box so that it lines up with the lines on the datum board; they are exactly 5mm x 5mm. Make sure that you are aligning the bounding box with the center of the lines as shown in the image below.

12. Once you have it perfectly outlined, click the Measure button again. The new calibration numbers will populate the Units per Pixel fields. They should be relatively close to the default values.

13. Click Apply to save the changes.

14. To confirm, drag the reticle on the top camera view to move the machine. The camera center should move exactly where you tell it to. If it's inaccurate, try doing the calibration again or tweaking the values in the fields.

Bottom Camera Calibration

1. Install an N24 nozzle on the left tool head.

2. Click on the Machine Setup tab in the top right pane.

3. Click on the "Expand" checkbox to open all of the features about your machine.

4. Click on Cameras > OpenPnPCaptureCamera Bottom.

5. Go to the Position tab.

6. Click on the "Position nozzle over location" button

7. Use the jog controls to move the nozzle directly over the center of the bottom camera. Do not adjust the Z-axis.

8. Twist the lens of the bottom camera until the tip of the nozzle is in focus. You may need to loosen the set screw on the side to allow it to turn.

9. Go to the General Configuration tab.

10. Scroll down to Units Per Pixel.

11. Set the X and Y Object Dimensions to 4.

12. Then click the Measure button.

13. A box with drag handles will appear in the camera viewfinder. Drag the bounding box around the nozzle tip so that it's perfectly tangent to the edges; they are exactly 4mm x 4mm.

14. Once you have it perfectly outlined, click Confirm. New numbers should populate the Units per Pixel fields. They should be relatively close to the default values.

15. Then click Apply to save the changes.

16. To confirm, drag the reticle on the bottom camera view to move the machine. The nozzle tip should move exactly where you tell it to. If it's inaccurate, try doing the calibration again or tweaking the values in the fields.

Next Steps

Next is Nozzle Offset Calibration.