1054 lines
123 KiB
XML
1054 lines
123 KiB
XML
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<axes>
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|
|
<nozzle class="org.openpnp.machine.reference.ReferenceNozzle" axis-X-id="AXS169824381580efcb" axis-Y-id="AXS16982438158c4660" axis-Z-id="AXS17108356271a68ac" axis-rotation-id="AXS17108288e61da5fb" id="NOZ1710829fd33a0170" name="N2" rotation-mode="LimitedArticulation" aligning-rotation-mode="false" max-pick-articulation-angle="15.0" max-alignment-articulation-angle="30.0" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" changer-enabled="false" nozzle-tip-changed-on-manual-feed="false" enable-dynamic-safe-z="true" blow-off-closing-valve="true" version="200" limit-rotation="true">
|
|
<compatible-nozzle-tip-ids class="java.util.ArrayList">
|
|
<string>TIP16f0412f7ef9e180</string>
|
|
<string>TIP16f0412ed2d50009</string>
|
|
<string>TIP16cbc9505c3e1916</string>
|
|
<string>TIP16f0412fef58a913</string>
|
|
<string>NT1</string>
|
|
<string>TIP16b1a61b09e0c660</string>
|
|
</compatible-nozzle-tip-ids>
|
|
<head-offsets units="Millimeters" x="23.922" y="-64.393" z="0.0" rotation="0.0"/>
|
|
<manual-nozzle-tip-change-location units="Millimeters" x="27.406000000000002" y="-61.831999999999994" z="31.5" rotation="0.0"/>
|
|
<vacuum-sense-actuator-name>VAC2</vacuum-sense-actuator-name>
|
|
<vacuum-actuator-name>VAC2</vacuum-actuator-name>
|
|
</nozzle>
|
|
</nozzles>
|
|
<actuators>
|
|
<actuator class="org.openpnp.machine.reference.ReferenceActuator" axis-X-id="AXS169824381580efcb" axis-Y-id="AXS16982438158c4660" axis-Z-id="AXS16982438158d0458" axis-rotation-id="AXS16b068df4e35374e" id="ACT171086c0660cfc3b" name="VAC1" value-type="Boolean" value-type-confirmed="true" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV16982438146c1dd4" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
|
|
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</actuator>
|
|
<actuator class="org.openpnp.machine.reference.ReferenceActuator" axis-X-id="AXS169824381580efcb" axis-Y-id="AXS16982438158c4660" axis-Z-id="AXS17108356271a68ac" axis-rotation-id="AXS17108288e61da5fb" id="ACT171086f27295ab60" name="VAC2" value-type="Boolean" value-type-confirmed="true" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV16982438146c1dd4" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
|
|
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</actuator>
|
|
</actuators>
|
|
<cameras>
|
|
<camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" axis-X-id="AXS169824381580efcb" axis-Y-id="AXS16982438158c4660" axis-Z-id="AXS171084434ad04ba5" axis-rotation-id="AXS171084470fa6d522" id="CAM1607555396816" name="Top" looking="Down" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="1000" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="true" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="true" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="LumenPnP Top: LumenPnP Top usb-0000:00:14.0-1" format-id="0" freeze-properties="false">
|
|
<units-per-pixel units="Millimeters" x="0.01302083" y="0.01308901" z="0.0" rotation="0.0"/>
|
|
<default-z value="15.0" units="Millimeters"/>
|
|
<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
|
|
<roaming-radius value="0.0" units="Millimeters"/>
|
|
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<safe-z value="0.0" units="Millimeters"/>
|
|
<calibration enabled="false">
|
|
<camera-matrix length="9">3321.224957982696, 0.0, 656.0276769509783, 0.0, 3318.0980627242334, 535.8314959991486, 0.0, 0.0, 1.0</camera-matrix>
|
|
<distortion-coefficients length="5">-0.8423275049564368, 0.35630646929727794, -0.060435393023392556, 8.411820254502008E-4, -75.37212376225311</distortion-coefficients>
|
|
</calibration>
|
|
<advanced-calibration enabled="false" overriding-old-transforms-and-distortion-correction-settings="false" valid="false" data-available="false" alpha-percent="100" rotation-error-z="0.0" rotation-error-y="0.0" rotation-error-x="0.0" rms-error="0.0" desired-radial-lines-per-test-pattern="32" test-pattern-fill-fraction="0.9" walking-loop-gain="0.5" approximate-camera-f="1000.0" mirrored="1.0" apparent-motion-direction="1.0" width-fov="0.0" height-fov="0.0" virtual-width-fov="0.0" virtual-height-fov="0.0" disable-tilt-correction="false" disable-distortion-correction="false" disable-tangential-distortion-correction="true" version="1.4">
|
|
<camera-matrix length="9">0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0</camera-matrix>
|
|
<distortion-coefficients length="5">0.0, 0.0, 0.0, 0.0, 0.0</distortion-coefficients>
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="SettleFullArea" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="detect_circle" enabled="true" min-diameter="18" max-diameter="25" max-distance="100" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.1" inner-margin="0.1" sub-sampling="8" super-sampling="8" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="DetectCircularSymmetry" diagnostics="false" heat-map="false"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="detect_circle"/>
|
|
</stages>
|
|
</pipeline>
|
|
<virtual-camera-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</virtual-camera-matrix>
|
|
<rectification-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</rectification-matrix>
|
|
<vector-from-mach-to-phy-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-phy-cam-in-mach-ref-frame>
|
|
<unit-vector-phy-cam-Z-in-mach-ref-frame length="3">0.0, 0.0, 0.0</unit-vector-phy-cam-Z-in-mach-ref-frame>
|
|
<vector-from-mach-to-vir-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-vir-cam-in-mach-ref-frame>
|
|
<vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame length="3">0.0, 0.0, 0.0</vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame>
|
|
<saved-test-pattern-3-d-points-list length="0"/>
|
|
<saved-test-pattern-image-points-list length="0"/>
|
|
<modeled-test-pattern-image-points-list length="0"/>
|
|
<outlier-points length="0"/>
|
|
<trial-step value="0.5" units="Millimeters"/>
|
|
<calibrated-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</advanced-calibration>
|
|
<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
|
|
<focal-resolution value="0.05" units="Millimeters"/>
|
|
</focus-provider>
|
|
<back-light-compensation property="BackLightCompensation" value="0"/>
|
|
<brightness property="Brightness" value="-2"/>
|
|
<contrast property="Contrast" value="64"/>
|
|
<exposure property="Exposure" value="156" auto="false"/>
|
|
<focus property="Focus" value="0" auto="true"/>
|
|
<gain property="Gain" value="0"/>
|
|
<gamma property="Gamma" value="72"/>
|
|
<hue property="Hue" value="0"/>
|
|
<power-line-frequency property="PowerLineFrequency" value="1"/>
|
|
<saturation property="Saturation" value="1"/>
|
|
<sharpness property="Sharpness" value="0"/>
|
|
<white-balance property="WhiteBalance" value="4000" auto="true"/>
|
|
<zoom property="Zoom" value="0"/>
|
|
</camera>
|
|
</cameras>
|
|
<park-location units="Millimeters" x="302.328" y="411.916" z="0.0" rotation="0.0"/>
|
|
<soft-limits-enabled>false</soft-limits-enabled>
|
|
<homing-fiducial-location units="Millimeters" x="218.107" y="197.304" z="0.0" rotation="0.0"/>
|
|
<calibration-primary-fiducial-location units="Millimeters" x="218.107" y="197.304" z="4.5" rotation="0.0"/>
|
|
<calibration-secondary-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<calibration-primary-fiducial-diameter value="1.0" units="Millimeters"/>
|
|
</head>
|
|
</heads>
|
|
<signalers/>
|
|
<feeders/>
|
|
<cameras>
|
|
<camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" id="CAM1614803235898" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="500" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="false" offset-x="-60" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="LumenPnP Bottom: LumenPnP Botto usb-0000:00:14.0-2" format-id="0" freeze-properties="false">
|
|
<units-per-pixel units="Millimeters" x="0.03669725" y="0.03703704" z="0.0" rotation="0.0"/>
|
|
<default-z value="61.0" units="Millimeters"/>
|
|
<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
|
|
<roaming-radius value="0.0" units="Millimeters"/>
|
|
<head-offsets units="Millimeters" x="218.151" y="151.439" z="5.5" rotation="0.0"/>
|
|
<safe-z value="0.0" units="Millimeters"/>
|
|
<calibration enabled="false">
|
|
<camera-matrix length="9">2111.355587855576, 0.0, 605.0663860340355, 0.0, 2128.668185693804, 413.20408953641106, 0.0, 0.0, 1.0</camera-matrix>
|
|
<distortion-coefficients length="5">-0.5565173610469634, 3.689515183932293, 0.002168674251511894, 0.0014021484087115958, -16.910503058680863</distortion-coefficients>
|
|
</calibration>
|
|
<advanced-calibration enabled="false" overriding-old-transforms-and-distortion-correction-settings="false" valid="false" data-available="false" alpha-percent="100" rotation-error-z="0.0" rotation-error-y="0.0" rotation-error-x="0.0" rms-error="0.0" desired-radial-lines-per-test-pattern="32" test-pattern-fill-fraction="0.9" walking-loop-gain="0.5" approximate-camera-f="1000.0" mirrored="1.0" apparent-motion-direction="1.0" width-fov="0.0" height-fov="0.0" virtual-width-fov="0.0" virtual-height-fov="0.0" disable-tilt-correction="false" disable-distortion-correction="false" disable-tangential-distortion-correction="true" version="1.4">
|
|
<camera-matrix length="9">0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0</camera-matrix>
|
|
<distortion-coefficients length="5">0.0, 0.0, 0.0, 0.0, 0.0</distortion-coefficients>
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="SettleFullArea" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="detect_circle" enabled="true" min-diameter="18" max-diameter="25" max-distance="100" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.1" inner-margin="0.1" sub-sampling="8" super-sampling="8" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="DetectCircularSymmetry" diagnostics="false" heat-map="false"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="detect_circle"/>
|
|
</stages>
|
|
</pipeline>
|
|
<virtual-camera-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</virtual-camera-matrix>
|
|
<rectification-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</rectification-matrix>
|
|
<vector-from-mach-to-phy-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-phy-cam-in-mach-ref-frame>
|
|
<unit-vector-phy-cam-Z-in-mach-ref-frame length="3">0.0, 0.0, 0.0</unit-vector-phy-cam-Z-in-mach-ref-frame>
|
|
<vector-from-mach-to-vir-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-vir-cam-in-mach-ref-frame>
|
|
<vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame length="3">0.0, 0.0, 0.0</vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame>
|
|
<saved-test-pattern-3-d-points-list length="0"/>
|
|
<saved-test-pattern-image-points-list length="0"/>
|
|
<modeled-test-pattern-image-points-list length="0"/>
|
|
<outlier-points length="0"/>
|
|
<trial-step value="0.5" units="Millimeters"/>
|
|
<calibrated-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</advanced-calibration>
|
|
<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
|
|
<focal-resolution value="0.05" units="Millimeters"/>
|
|
</focus-provider>
|
|
<back-light-compensation property="BackLightCompensation" value="0"/>
|
|
<brightness property="Brightness" value="-2"/>
|
|
<contrast property="Contrast" value="64"/>
|
|
<exposure property="Exposure" value="156" auto="false"/>
|
|
<focus property="Focus" value="0" auto="true"/>
|
|
<gain property="Gain" value="0"/>
|
|
<gamma property="Gamma" value="72"/>
|
|
<hue property="Hue" value="0"/>
|
|
<power-line-frequency property="PowerLineFrequency" value="1"/>
|
|
<saturation property="Saturation" value="1"/>
|
|
<sharpness property="Sharpness" value="0"/>
|
|
<white-balance property="WhiteBalance" value="4000" auto="true"/>
|
|
<zoom property="Zoom" value="0"/>
|
|
</camera>
|
|
</cameras>
|
|
<actuators>
|
|
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT1605385237291" name="LED" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV16982438146c1dd4" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
|
|
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<safe-z value="0.0" units="Millimeters"/>
|
|
</actuator>
|
|
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17aedeead9964f57" name="PhotonFeederData" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
|
|
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</actuator>
|
|
</actuators>
|
|
<part-alignments>
|
|
<part-alignment class="org.openpnp.machine.reference.vision.ReferenceBottomVision" bottom-vision-id="BVS_Default" enabled="true" pre-rotate="true" max-vision-passes="3" max-angular-offset="10.0" test-alignment-angle="0.0">
|
|
<max-linear-offset value="1.0" units="Millimeters"/>
|
|
</part-alignment>
|
|
</part-alignments>
|
|
<drivers>
|
|
<driver class="org.openpnp.machine.reference.driver.GcodeDriver" id="DRV16982438146c1dd4" name="GcodeDriver" motion-control-type="ToolpathFeedRate" communications="serial" connection-keep-alive="true" sync-initial-location="true" allow-unhomed-motion="false" units="Millimeters" max-feed-rate="50000" backlash-offset-x="-1.0" backlash-offset-y="-1.0" backlash-offset-z="0.0" backlash-offset-r="0.0" non-squareness-factor="0.0" backlash-feed-rate-factor="0.1" timeout-milliseconds="5000" connect-wait-time-milliseconds="3000" dollar-wait-time-milliseconds="50" visual-homing-enabled="true" backslash-escaped-characters-enabled="false" remove-comments="false" compress-gcode="false" compression-excludes="[]"" logging-gcode="false" supporting-pre-move="false" using-letter-variables="true" infinity-timeout-milliseconds="60000">
|
|
<serial line-ending-type="LF" port-name="ttyACM0" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" name="SerialPortCommunications"/>
|
|
<tcp line-ending-type="LF" ip-address="127.0.0.1" port="23" name="TcpCommunications"/>
|
|
<simulated line-ending-type="LF"/>
|
|
<homing-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<detected-firmware><![CDATA[FIRMWARE_NAME:Marlin bugfix-2.1.x (Aug 31 2022 14:23:05) SOURCE_CODE_URL:github.com/MarlinFirmware/Marlin PROTOCOL_VERSION:1.0 MACHINE_TYPE:LumenPnP EXTRUDER_COUNT:0 AXIS_COUNT:6 UUID:cede2a2f-41a2-4748-9b12-c55c62f367ff]]></detected-firmware>
|
|
<reported-axes><![CDATA[X:127.10 Y:192.98 Z:31.50 A:-116.00 B:100.00 C:10000.00 Count X:40631 Y:61732 Z:1260 A:-515 B:444 C:400000]]></reported-axes>
|
|
<command type="COMMAND_CONFIRM_REGEX">
|
|
<text><![CDATA[^ok.*]]></text>
|
|
</command>
|
|
<command type="CONNECT_COMMAND">
|
|
<text><![CDATA[G90 ; Set absolute positioning mode]]></text>
|
|
<text><![CDATA[M260 A112 B1 S1 ; Selecting VAC1 through the I2C multiplexer]]></text>
|
|
<text><![CDATA[M260 A109 ; Starts Command to VAC sensor at address 109]]></text>
|
|
<text><![CDATA[M260 B48 ; Address Byte 48 selects CMD register]]></text>
|
|
<text><![CDATA[M260 B27 ; Sends byte to select 62.5 sleep time, SCO, sleep mode conversion (0001 1 011)]]></text>
|
|
<text><![CDATA[M260 S1 ; Sends data]]></text>
|
|
<text><![CDATA[M260 A112 B2 S1 ; Selecting VAC2 through the I2C multiplexer]]></text>
|
|
<text><![CDATA[M260 A109 ; Starts Command to VAC sensor at address 109]]></text>
|
|
<text><![CDATA[M260 B48 ; Address Byte 48 selects CMD register]]></text>
|
|
<text><![CDATA[M260 B27 ; Sends byte to select 62.5 sleep time, SCO, sleep mode conversion (0001 1 011)]]></text>
|
|
<text><![CDATA[M260 S1 ; Sends data]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT170524c73c5ed540" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M271 S0x{Value}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT170524c73c5ed540" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[rs485-reply: (?<Value>.*)]]></text>
|
|
</command>
|
|
<command type="HOME_COMMAND">
|
|
<text><![CDATA[G28 ; Home all axes]]></text>
|
|
</command>
|
|
<command type="MOVE_TO_COMMAND">
|
|
<text><![CDATA[G0 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {A:A%.4f} {B:B%.4f} F{FeedRate:%.0f} ; Send standard Gcode move]]></text>
|
|
</command>
|
|
<command type="MOVE_TO_COMPLETE_COMMAND">
|
|
<text><![CDATA[M400 ; Wait for moves to complete before returning]]></text>
|
|
</command>
|
|
<command head-mountable-id="A1" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M106}{False:M107}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT1605385237291" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M150 P255 R255 U255 B255}{False:M150 P0}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT1607566474235" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M106 P1 S255}{False:M107 P1}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT1614803605570" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[M42 P35 S255]]></text>
|
|
<text><![CDATA[G4 P{True:100}{False:200}]]></text>
|
|
<text><![CDATA[M42 P35 S0]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16afc32821bdf85e" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M106 P1 S255}{False:M107 P1}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16afd413de8bea87" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M150 P255 R255 U255 B255}{False:M150 P0}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16b40f2d5da09d12" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[M10{True:6 P1 S255}{False:7 P1};]]></text>
|
|
<text><![CDATA[M10{True:6}{False:7};]]></text>
|
|
</command>
|
|
<command type="SET_GLOBAL_OFFSETS_COMMAND">
|
|
<text><![CDATA[G92 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {A:A%.4f} ; reset coordinates]]></text>
|
|
</command>
|
|
<command type="GET_POSITION_COMMAND">
|
|
<text><![CDATA[M114 ; get position]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16efee964f89be19" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[^.*V:(?<Value>\d+).*]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16efee964f89be19" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M3426 G4 C1 I1 A6]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT17066f5803b1f0e1" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M260 A112 B1 S1]]></text>
|
|
<text><![CDATA[M260 A109]]></text>
|
|
<text><![CDATA[M260 B48]]></text>
|
|
<text><![CDATA[M260 B10]]></text>
|
|
<text><![CDATA[M260 S1]]></text>
|
|
<text><![CDATA[M260 A109 B6 S1]]></text>
|
|
<text><![CDATA[M261 A109 B1 S2]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT17066f5803b1f0e1" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[^.*data:(?<Value>.*)]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171082d410ff336f" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[M10{True:6 P2 S255}{False:7 P2};]]></text>
|
|
<text><![CDATA[M10{True:6 P3 S255}{False:7 P3};]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16b40f2d5da09d12" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M260 A112 B1 S1]]></text>
|
|
<text><![CDATA[M260 A109]]></text>
|
|
<text><![CDATA[M260 B48]]></text>
|
|
<text><![CDATA[M260 B10]]></text>
|
|
<text><![CDATA[M260 S1]]></text>
|
|
<text><![CDATA[M260 A109 B6 S1]]></text>
|
|
<text><![CDATA[M261 A109 B1 S2]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT16b40f2d5da09d12" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[^.*data:(?<Value>.*)]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171082d410ff336f" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M260 A112 B2 S1]]></text>
|
|
<text><![CDATA[M260 A109]]></text>
|
|
<text><![CDATA[M260 B48]]></text>
|
|
<text><![CDATA[M260 B10]]></text>
|
|
<text><![CDATA[M260 S1]]></text>
|
|
<text><![CDATA[M260 A109 B6 S1]]></text>
|
|
<text><![CDATA[M261 A109 B1 S2]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171082d410ff336f" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[^.*data:(?<Value>.*)]]></text>
|
|
</command>
|
|
<command type="POSITION_REPORT_REGEX">
|
|
<text><![CDATA[^.*X:(?<X>-?\d+\.\d+) Y:(?<Y>-?\d+\.\d+) Z:(?<Z>-?\d+\.\d+) A:(?<A>-?\d+\.\d+) B:(?<B>-?\d+\.\d+).*]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171086c0660cfc3b" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M260 A112 B1 S1 ; Select vac1 through multiplexer]]></text>
|
|
<text><![CDATA[M260 A109 B6 S1 ; Selects MSB register]]></text>
|
|
<text><![CDATA[M261 A109 B1 S2 ; Request one byte back via decimal]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171086c0660cfc3b" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[^.*data:(?<Value>.*)]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171086c0660cfc3b" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M106 P1 S180}{False:M107 P1};]]></text>
|
|
<text><![CDATA[{True:M106}{False:M107};]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171086f27295ab60" type="ACTUATE_BOOLEAN_COMMAND">
|
|
<text><![CDATA[{True:M106 P2 S255}{False:M107 P2};]]></text>
|
|
<text><![CDATA[{True:M106 P3 S180}{False:M107 P3};]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171086f27295ab60" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M260 A112 B2 S1 ; Select vac1 through multiplexer]]></text>
|
|
<text><![CDATA[M260 A109 B6 S1 ; Selects MSB register]]></text>
|
|
<text><![CDATA[M261 A109 B1 S2 ; Request one byte back via decimal]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT171086f27295ab60" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[^.*data:(?<Value>.*)]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT17aedeead9964f57" type="ACTUATOR_READ_COMMAND">
|
|
<text><![CDATA[M485 {Value}]]></text>
|
|
</command>
|
|
<command head-mountable-id="ACT17aedeead9964f57" type="ACTUATOR_READ_REGEX">
|
|
<text><![CDATA[rs485-reply: (?<Value>.*)]]></text>
|
|
</command>
|
|
</driver>
|
|
</drivers>
|
|
<discard-location units="Millimeters" x="27.896" y="39.282" z="30.0" rotation="0.0"/>
|
|
<properties>
|
|
<entry>
|
|
<string>IndexMachines.MaxFeederAddress</string>
|
|
<object class="java.lang.Integer">32</object>
|
|
</entry>
|
|
<entry>
|
|
<string>CameraCalibrationProcessProperties</string>
|
|
<object class="org.openpnp.gui.processes.CalibrateCameraProcess$CameraCalibrationProcessProperties">
|
|
<max-allowed-pixel-step-factor>0.08333333333333333</max-allowed-pixel-step-factor>
|
|
<min-allowed-pixel-step-factor>0.027777777777777776</min-allowed-pixel-step-factor>
|
|
<change-mask-threshold>3</change-mask-threshold>
|
|
<mask-growth-threshold-factor>0.7</mask-growth-threshold-factor>
|
|
<mask-shrink-thresholdfactor>0.1</mask-shrink-thresholdfactor>
|
|
<mask-growth-factor>0.1</mask-growth-factor>
|
|
<mask-shrinkfactor>0.05</mask-shrinkfactor>
|
|
<initial-mask-diameter-fraction>0.25</initial-mask-diameter-fraction>
|
|
<centering-diameter-fraction>0.5</centering-diameter-fraction>
|
|
<max-error-count>15</max-error-count>
|
|
<default-detection-diameter>25</default-detection-diameter>
|
|
<default-up-looking-secondary-offset-Z-mm>2.0</default-up-looking-secondary-offset-Z-mm>
|
|
</object>
|
|
</entry>
|
|
<entry>
|
|
<string>MultiPlacementBoardLocationProperties</string>
|
|
<object class="org.openpnp.gui.processes.MultiPlacementBoardLocationProcess$MultiPlacementBoardLocationProperties">
|
|
<scaling-tolerance>0.05</scaling-tolerance>
|
|
<shearing-tolerance>0.05</shearing-tolerance>
|
|
<board-location-tolerance value="1000.0" units="Millimeters"/>
|
|
<auto-move-for-all-placements>true</auto-move-for-all-placements>
|
|
</object>
|
|
</entry>
|
|
<entry>
|
|
<string>Welcome2_0_Dialog_Shown</string>
|
|
<object class="java.lang.Boolean">true</object>
|
|
</entry>
|
|
<entry>
|
|
<string>PhotonFeeder.MaxFeederAddress</string>
|
|
<object class="java.lang.Integer">25</object>
|
|
</entry>
|
|
<entry>
|
|
<string>ReferenceAutoFeederSlot.banks</string>
|
|
<object class="org.openpnp.machine.reference.feeder.ReferenceSlotAutoFeeder$BanksProperty">
|
|
<banks>
|
|
<bank id="BANK-1605384205016" name="Default">
|
|
<feeders>
|
|
<feeder id="SLOTFDR-1605384212358" name="1">
|
|
<offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</feeder>
|
|
<feeder id="SLOTFDR-1605384271605" name="2">
|
|
<offsets units="Millimeters" x="20.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</feeder>
|
|
<feeder id="SLOTFDR-1605384276550" name="3">
|
|
<offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</feeder>
|
|
</feeders>
|
|
</bank>
|
|
</banks>
|
|
</object>
|
|
</entry>
|
|
<entry>
|
|
<string>PhotonFeeder.FeederSlots</string>
|
|
<object class="org.openpnp.machine.photon.PhotonFeederSlots">
|
|
<slots>
|
|
<slot address="2">
|
|
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
</slot>
|
|
<slot address="1">
|
|
<location units="Millimeters" x="28.673" y="45.468" z="4.0" rotation="0.0"/>
|
|
</slot>
|
|
<slot address="3"/>
|
|
<slot address="4"/>
|
|
<slot address="5"/>
|
|
<slot address="6">
|
|
<location units="Millimeters" x="106.439" y="49.801" z="4.5" rotation="200.0"/>
|
|
</slot>
|
|
<slot address="9"/>
|
|
<slot address="13"/>
|
|
<slot address="14"/>
|
|
<slot address="15"/>
|
|
<slot address="16">
|
|
<location units="Millimeters" x="220.452" y="143.235" z="30.0" rotation="180.0"/>
|
|
</slot>
|
|
<slot address="17"/>
|
|
<slot address="18">
|
|
<location units="Millimeters" x="293.125" y="49.703" z="4.6" rotation="0.0"/>
|
|
</slot>
|
|
<slot address="19">
|
|
<location units="Millimeters" x="314.32" y="42.594" z="3.8" rotation="0.0"/>
|
|
</slot>
|
|
<slot address="25"/>
|
|
<slot address="11">
|
|
<location units="Millimeters" x="220.452" y="143.235" z="30.0" rotation="180.0"/>
|
|
</slot>
|
|
<slot address="12"/>
|
|
<slot address="7"/>
|
|
<slot address="8"/>
|
|
<slot address="10"/>
|
|
<slot address="24"/>
|
|
</slots>
|
|
</object>
|
|
</entry>
|
|
<entry>
|
|
<string>PhotonFeeder.FeederCommunicationMaxRetry</string>
|
|
<object class="java.lang.Integer">3</object>
|
|
</entry>
|
|
</properties>
|
|
<nozzle-tips>
|
|
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="NT1" name="N045" pick-dwell-milliseconds="200" place-dwell-milliseconds="100" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="true" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
|
|
<changer-start-location units="Millimeters" x="43.614" y="124.185" z="31.0" rotation="0.0"/>
|
|
<changer-start-to-mid-speed>0.05</changer-start-to-mid-speed>
|
|
<changer-mid-location units="Millimeters" x="43.614" y="124.185" z="5.5" rotation="0.0"/>
|
|
<changer-mid-to-mid-2-speed>0.2</changer-mid-to-mid-2-speed>
|
|
<changer-mid-location-2 units="Millimeters" x="43.614" y="124.185" z="8.5" rotation="0.0"/>
|
|
<changer-mid-2-to-end-speed>0.5</changer-mid-2-to-end-speed>
|
|
<changer-end-location units="Millimeters" x="63.814" y="124.185" z="8.5" rotation="0.0"/>
|
|
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
|
|
<vision-template-dimension-x value="10.0" units="Millimeters"/>
|
|
<vision-template-dimension-y value="10.0" units="Millimeters"/>
|
|
<vision-template-tolerance value="4.0" units="Millimeters"/>
|
|
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
|
|
<min-part-diameter value="0.0" units="Millimeters"/>
|
|
<max-part-diameter value="20.0" units="Millimeters"/>
|
|
<max-part-height value="20.0" units="Millimeters"/>
|
|
<max-pick-tolerance value="1.0" units="Millimeters"/>
|
|
<calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="100" property-name="MaskCircle"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
|
|
</stages>
|
|
</pipeline>
|
|
<runout-compensation-lookup class="java.util.HashMap">
|
|
<entry>
|
|
<string>N1</string>
|
|
<runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="0.16580043881905335" center-y="0.1612323444329153" radius="0.15477001412296135" phase-shift="89.2049392039559" units="Millimeters" peak-error="1.201848817116081" rms-error="0.4948619325239039"/>
|
|
</entry>
|
|
</runout-compensation-lookup>
|
|
<minimum-detail-size value="0.2" units="Millimeters"/>
|
|
<offset-threshold-length value="2.0" units="Millimeters"/>
|
|
<calibration-Z-offset value="0.0" units="Millimeters"/>
|
|
<calibration-tip-diameter value="0.0" units="Millimeters"/>
|
|
</calibration>
|
|
<method-part-on>Absolute</method-part-on>
|
|
<part-on-check-after-pick>true</part-on-check-after-pick>
|
|
<part-on-check-align>false</part-on-check-align>
|
|
<part-on-check-before-place>false</part-on-check-before-place>
|
|
<vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
|
|
<vacuum-level-part-on-high>241.0</vacuum-level-part-on-high>
|
|
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
|
|
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
|
|
<method-part-off>None</method-part-off>
|
|
<part-off-check-after-place>true</part-off-check-after-place>
|
|
<part-off-check-before-pick>false</part-off-check-before-pick>
|
|
<vacuum-level-part-off-low>248.0</vacuum-level-part-off-low>
|
|
<vacuum-level-part-off-high>255.0</vacuum-level-part-off-high>
|
|
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
|
|
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
|
|
<diameter-low value="0.0" units="Millimeters"/>
|
|
</nozzle-tip>
|
|
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16b1a61b09e0c660" name="N08" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="true" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
|
|
<changer-start-location units="Millimeters" x="43.814" y="136.085" z="31.0" rotation="0.0"/>
|
|
<changer-start-to-mid-speed>0.05</changer-start-to-mid-speed>
|
|
<changer-mid-location units="Millimeters" x="43.814" y="136.085" z="5.0" rotation="0.0"/>
|
|
<changer-mid-to-mid-2-speed>0.5</changer-mid-to-mid-2-speed>
|
|
<changer-mid-location-2 units="Millimeters" x="43.814" y="136.085" z="9.0" rotation="0.0"/>
|
|
<changer-mid-2-to-end-speed>0.5</changer-mid-2-to-end-speed>
|
|
<changer-end-location units="Millimeters" x="61.0" y="136.085" z="9.0" rotation="0.0"/>
|
|
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
|
|
<vision-template-dimension-x value="10.0" units="Millimeters"/>
|
|
<vision-template-dimension-y value="10.0" units="Millimeters"/>
|
|
<vision-template-tolerance value="4.0" units="Millimeters"/>
|
|
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
|
|
<min-part-diameter value="0.0" units="Millimeters"/>
|
|
<max-part-diameter value="20.0" units="Millimeters"/>
|
|
<max-part-height value="20.0" units="Millimeters"/>
|
|
<max-pick-tolerance value="1.0" units="Millimeters"/>
|
|
<calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="2.0" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
|
|
</stages>
|
|
</pipeline>
|
|
<runout-compensation-lookup class="java.util.HashMap"/>
|
|
<minimum-detail-size value="0.2" units="Millimeters"/>
|
|
<offset-threshold-length value="2.0" units="Millimeters"/>
|
|
<calibration-Z-offset value="0.0" units="Millimeters"/>
|
|
<calibration-tip-diameter value="0.0" units="Millimeters"/>
|
|
</calibration>
|
|
<method-part-on>Absolute</method-part-on>
|
|
<part-on-check-after-pick>true</part-on-check-after-pick>
|
|
<part-on-check-align>false</part-on-check-align>
|
|
<part-on-check-before-place>false</part-on-check-before-place>
|
|
<vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
|
|
<vacuum-level-part-on-high>242.0</vacuum-level-part-on-high>
|
|
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
|
|
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
|
|
<method-part-off>None</method-part-off>
|
|
<part-off-check-after-place>true</part-off-check-after-place>
|
|
<part-off-check-before-pick>false</part-off-check-before-pick>
|
|
<vacuum-level-part-off-low>242.0</vacuum-level-part-off-low>
|
|
<vacuum-level-part-off-high>255.0</vacuum-level-part-off-high>
|
|
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
|
|
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
|
|
<diameter-low value="0.0" units="Millimeters"/>
|
|
</nozzle-tip>
|
|
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16cbc9505c3e1916" name="N14" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
|
|
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
|
|
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
|
|
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
|
|
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
|
|
<vision-template-dimension-x value="10.0" units="Millimeters"/>
|
|
<vision-template-dimension-y value="10.0" units="Millimeters"/>
|
|
<vision-template-tolerance value="4.0" units="Millimeters"/>
|
|
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
|
|
<min-part-diameter value="0.0" units="Millimeters"/>
|
|
<max-part-diameter value="20.0" units="Millimeters"/>
|
|
<max-part-height value="20.0" units="Millimeters"/>
|
|
<max-pick-tolerance value="1.0" units="Millimeters"/>
|
|
<calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="35" max-diameter="55" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
|
|
</stages>
|
|
</pipeline>
|
|
<runout-compensation-lookup class="java.util.HashMap"/>
|
|
<minimum-detail-size value="0.2" units="Millimeters"/>
|
|
<offset-threshold-length value="2.0" units="Millimeters"/>
|
|
<calibration-Z-offset value="0.0" units="Millimeters"/>
|
|
<calibration-tip-diameter value="0.0" units="Millimeters"/>
|
|
</calibration>
|
|
<method-part-on>Absolute</method-part-on>
|
|
<part-on-check-after-pick>true</part-on-check-after-pick>
|
|
<part-on-check-align>false</part-on-check-align>
|
|
<part-on-check-before-place>false</part-on-check-before-place>
|
|
<vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
|
|
<vacuum-level-part-on-high>245.0</vacuum-level-part-on-high>
|
|
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
|
|
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
|
|
<method-part-off>None</method-part-off>
|
|
<part-off-check-after-place>true</part-off-check-after-place>
|
|
<part-off-check-before-pick>true</part-off-check-before-pick>
|
|
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
|
|
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
|
|
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
|
|
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
|
|
<diameter-low value="0.0" units="Millimeters"/>
|
|
</nozzle-tip>
|
|
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412ed2d50009" name="N24" pick-dwell-milliseconds="300" place-dwell-milliseconds="100" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
|
|
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
|
|
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
|
|
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
|
|
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
|
|
<vision-template-dimension-x value="10.0" units="Millimeters"/>
|
|
<vision-template-dimension-y value="10.0" units="Millimeters"/>
|
|
<vision-template-tolerance value="4.0" units="Millimeters"/>
|
|
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
|
|
<min-part-diameter value="0.0" units="Millimeters"/>
|
|
<max-part-diameter value="20.0" units="Millimeters"/>
|
|
<max-part-height value="20.0" units="Millimeters"/>
|
|
<max-pick-tolerance value="1.0" units="Millimeters"/>
|
|
<calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="70" max-diameter="90" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
|
|
</stages>
|
|
</pipeline>
|
|
<runout-compensation-lookup class="java.util.HashMap">
|
|
<entry>
|
|
<string>NOZ1710829fd33a0170</string>
|
|
<runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="0.04892966666666666" center-y="-0.08024691999999999" radius="0.07232841570754572" phase-shift="110.8611831546754" units="Millimeters" peak-error="0.03722647080091727" rms-error="0.023652549539591755"/>
|
|
</entry>
|
|
</runout-compensation-lookup>
|
|
<minimum-detail-size value="0.2" units="Millimeters"/>
|
|
<offset-threshold-length value="2.0" units="Millimeters"/>
|
|
<calibration-Z-offset value="0.0" units="Millimeters"/>
|
|
<calibration-tip-diameter value="0.0" units="Millimeters"/>
|
|
</calibration>
|
|
<method-part-on>Absolute</method-part-on>
|
|
<part-on-check-after-pick>true</part-on-check-after-pick>
|
|
<part-on-check-align>false</part-on-check-align>
|
|
<part-on-check-before-place>false</part-on-check-before-place>
|
|
<vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
|
|
<vacuum-level-part-on-high>248.0</vacuum-level-part-on-high>
|
|
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
|
|
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
|
|
<method-part-off>None</method-part-off>
|
|
<part-off-check-after-place>true</part-off-check-after-place>
|
|
<part-off-check-before-pick>true</part-off-check-before-pick>
|
|
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
|
|
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
|
|
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
|
|
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
|
|
<diameter-low value="0.0" units="Millimeters"/>
|
|
</nozzle-tip>
|
|
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412f7ef9e180" name="N40" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
|
|
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
|
|
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
|
|
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
|
|
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
|
|
<vision-template-dimension-x value="10.0" units="Millimeters"/>
|
|
<vision-template-dimension-y value="10.0" units="Millimeters"/>
|
|
<vision-template-tolerance value="4.0" units="Millimeters"/>
|
|
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
|
|
<min-part-diameter value="0.0" units="Millimeters"/>
|
|
<max-part-diameter value="20.0" units="Millimeters"/>
|
|
<max-part-height value="20.0" units="Millimeters"/>
|
|
<max-pick-tolerance value="1.0" units="Millimeters"/>
|
|
<calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="40" max-diameter="85" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
|
|
</stages>
|
|
</pipeline>
|
|
<runout-compensation-lookup class="java.util.HashMap"/>
|
|
<minimum-detail-size value="0.2" units="Millimeters"/>
|
|
<offset-threshold-length value="2.0" units="Millimeters"/>
|
|
<calibration-Z-offset value="0.0" units="Millimeters"/>
|
|
<calibration-tip-diameter value="0.0" units="Millimeters"/>
|
|
</calibration>
|
|
<method-part-on>Absolute</method-part-on>
|
|
<part-on-check-after-pick>true</part-on-check-after-pick>
|
|
<part-on-check-align>false</part-on-check-align>
|
|
<part-on-check-before-place>false</part-on-check-before-place>
|
|
<vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
|
|
<vacuum-level-part-on-high>245.0</vacuum-level-part-on-high>
|
|
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
|
|
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
|
|
<method-part-off>None</method-part-off>
|
|
<part-off-check-after-place>true</part-off-check-after-place>
|
|
<part-off-check-before-pick>true</part-off-check-before-pick>
|
|
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
|
|
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
|
|
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
|
|
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
|
|
<diameter-low value="0.0" units="Millimeters"/>
|
|
</nozzle-tip>
|
|
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412fef58a913" name="N75" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
|
|
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
|
|
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
|
|
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
|
|
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
|
|
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
|
|
<vision-template-dimension-x value="10.0" units="Millimeters"/>
|
|
<vision-template-dimension-y value="10.0" units="Millimeters"/>
|
|
<vision-template-tolerance value="4.0" units="Millimeters"/>
|
|
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
|
|
<min-part-diameter value="0.0" units="Millimeters"/>
|
|
<max-part-diameter value="20.0" units="Millimeters"/>
|
|
<max-part-height value="20.0" units="Millimeters"/>
|
|
<max-pick-tolerance value="1.0" units="Millimeters"/>
|
|
<calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
|
|
<pipeline>
|
|
<stages>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="40" max-diameter="70" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
|
|
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
|
|
</stages>
|
|
</pipeline>
|
|
<runout-compensation-lookup class="java.util.HashMap"/>
|
|
<minimum-detail-size value="0.2" units="Millimeters"/>
|
|
<offset-threshold-length value="2.0" units="Millimeters"/>
|
|
<calibration-Z-offset value="0.0" units="Millimeters"/>
|
|
<calibration-tip-diameter value="0.0" units="Millimeters"/>
|
|
</calibration>
|
|
<method-part-on>Absolute</method-part-on>
|
|
<part-on-check-after-pick>true</part-on-check-after-pick>
|
|
<part-on-check-align>false</part-on-check-align>
|
|
<part-on-check-before-place>false</part-on-check-before-place>
|
|
<vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
|
|
<vacuum-level-part-on-high>245.0</vacuum-level-part-on-high>
|
|
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
|
|
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
|
|
<method-part-off>None</method-part-off>
|
|
<part-off-check-after-place>true</part-off-check-after-place>
|
|
<part-off-check-before-pick>true</part-off-check-before-pick>
|
|
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
|
|
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
|
|
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
|
|
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
|
|
<diameter-low value="0.0" units="Millimeters"/>
|
|
</nozzle-tip>
|
|
</nozzle-tips>
|
|
<pnp-job-processor class="org.openpnp.machine.reference.ReferencePnpJobProcessor" job-order="PartHeight" max-vision-retries="3" stepping-to-next-motion="true">
|
|
<planner class="org.openpnp.machine.reference.ReferencePnpJobProcessor$SimplePnpJobPlanner"/>
|
|
</pnp-job-processor>
|
|
<fiducial-locator class="org.openpnp.machine.reference.vision.ReferenceFiducialLocator" fiducial-vision-id="FVS_Default" enabled-averaging="true" repeat-fiducial-recognition="3">
|
|
<max-distance value="700.0" units="Millimeters"/>
|
|
<tolerances>
|
|
<scaling-tolerance>0.05</scaling-tolerance>
|
|
<shearing-tolerance>0.05</shearing-tolerance>
|
|
<board-location-tolerance value="5.0" units="Millimeters"/>
|
|
</tolerances>
|
|
</fiducial-locator>
|
|
<motion-planner class="org.openpnp.machine.reference.driver.NullMotionPlanner" maximum-plan-history="60.0"/>
|
|
<home-after-enabled>false</home-after-enabled>
|
|
<park-after-homed>false</park-after-homed>
|
|
<unsafe-Z-roaming-distance value="10.0" units="Millimeters"/>
|
|
<pool-scripting-engines>false</pool-scripting-engines>
|
|
<solutions show-indicator="true" target-milestone="Calibration">
|
|
<dismissed-solutions class="java.util.HashSet">
|
|
<string>8ea10eda4030b6f8579eea7956234ba0db2f4a12</string>
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|
<string>8ca5229e26080f42f86bb695d58020f279f4be85</string>
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|
<string>5294de77ef08a8e7bf3e5075fbbbff9bc659b503</string>
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|
<string>c216b71b9edfac124d6fd02f20eacadec0c6a840</string>
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|
<string>ded1cb82232f3e2a947f3c33d0b42e7583bff07b</string>
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|
<string>569da4c9176d79a4fe38aa67b7a03a484fb48a51</string>
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|
<string>1e1726d636b22579f2bae38fb1c628ffba1871e7</string>
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<string>7ca2a55111140420f5fb94067f9748361cc06002</string>
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<string>e79f4cd7fffe58ad121579e03273c12e58c4c199</string>
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<string>c8dba41eadc52b4a72365367bcf894854d7886b0</string>
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|
<string>cba69bd8b56678f4d0053f01421d2e6eb1a1d4da</string>
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<string>1cd38b31ea2d83812b81a95c558bab5dbbc23e12</string>
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|
<string>4f8510493a9f322062a5c57835c73bc2008bf0cf</string>
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|
<string>0fe9b3772d9fff199f6497b14875576fd10b476f</string>
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|
<string>a541df4574b7220748269cf29960575c74a96a19</string>
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|
<string>4870fc33279b006d93536b86817af172c0fed12f</string>
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|
<string>7e3bead40d9eb1dedb0ba1f0db5aa8b8511af761</string>
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<string>aaa475700c148cbba538a3deaf6e1591869eb0d0</string>
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|
<string>8ca9c2bed2d2d5bc99568fdd145522f7a98fb729</string>
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|
</dismissed-solutions>
|
|
<solved-solutions class="java.util.HashSet">
|
|
<string>947dd5a3c6e9e7e6b4479fc77c9f30c92e66fa31</string>
|
|
<string>4cfccdb6189be00811d0ba64fcb2e25386f1eaac</string>
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|
<string>88cecb197dd4d95cf7e3ba2916536d19493c7968</string>
|
|
</solved-solutions>
|
|
</solutions>
|
|
<visual-solutions min-symmetry="1.5" sub-sampling="4" super-sampling="8" symmetry-score="OverallVarianceVsRingVarianceSum" diagnostics-milliseconds="4000" max-camera-relative-fiducial-area-diameter="0.2" max-camera-relative-subject-diameter="0.5" zero-knowledge-displacement-ratio="0.2" zero-knowledge-displacement-mm="1.0" fiducials-minimum-Z-offset-mm="2.0" zero-knowledge-fiducial-locator-passes="3" fiducial-margin="1.1" zero-knowledge-runout-compensation-shots="6" zero-knowledge-auto-focus-depth-mm="2.0" zero-knowledge-backlash-speed="0.2" zero-knowledge-settle-time-ms="600" settle-wanted-resolution-mm="0.05" settle-acceptable-compute-time="25.0" settle-maximum-pixel-diff="8.0" settle-test-move-mm="1.0">
|
|
<zero-knowledge-backlash-offsets units="Millimeters" x="-1.0" y="-1.0" z="0.0" rotation="-5.0"/>
|
|
</visual-solutions>
|
|
<calibration-solutions backlash-calibration-passes="4" error-dampening="0.9" backlash-test-move-mm="10.0" backlash-test-move-large-mm="90.0" step-test-mm="1.0" max-sneak-up-offset-mm="2.5" acceptable-sneak-up-offset-mm="0.8" backlash-distance-factor="1.4142135623730951" nozzle-offset-angles="6" extra-vacuum-dwell-ms="300" machine-settle-ms="500" up-looking-secondary-offset-Z-mm="2.0" automation-level="2">
|
|
<backlash-probing-speeds length="5">0.25, 0.33, 0.5, 0.75, 1.0</backlash-probing-speeds>
|
|
</calibration-solutions>
|
|
</machine>
|
|
</openpnp-machine>
|