10-9
Positioning workpieces for stage and
robot applications [Alignment Func-
tion]
An FH/FHV series Controller has an alignment function that you can use to position workpieces for
stage and robot applications (hereafter called external devices).
Alignment executes a combination of more than one processing item.
This section gives an overview of alignment, and provides details on its use in general.
Refer to Vision System FH/FHV Series Processing Item Function Reference Manual (Cat. No. Z341)
for details on the processing items that are used for alignment.
10-9-1
Overview
An FH/FHV series Controller measures the position of alignment marks on the workpiece, or the posi-
tion of specific features of the workpiece (such as corners), and outputs the axis movement to a PLC
or stage controller, which aligns the workpiece into a specified position (hereafter called the reference
position).
The PLC or stage controller simply needs to send a movement command to the external device for the
axis movement amount that was output from the FH/FHV series Controller to align the position of the
workpiece.
The following two measurement flows are used to perform alignment. Set both flows for each scene.
• Calibration flow:
This flow associates the coordinates of the external device with the Camera coordinates.
• Alignment flow:
This flow uses the calibration parameters that were created in the calibration flow to align the posi-
tion of the workpiece.
PLC
Sensor Controller
Stage Robot
Or
Movement command (stage or robot coordinates)
Required move-
ment (stage or
robot coordinates)
Conversion of stage or
robot coordinations from
Camera coordinates
10 Advanced Usage
10 - 52
FH/FHV Series Vision System User’s Manual (Z365-E1)
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