Camera - Probe Calibration step-by-step guide

Steps of the camera-probe calibration are presented here. The tutorial starts by pressing the Camera-Probe button in the main GUI, as it was presented in the parent RobotCalibrationManual tutorial.

1. Camera - Probe GUI and calibration start

First a new window with all the controls and a section for the calibration results will open.
gui.png

  • The first thing to check are the values in the red box, labeled with number 1.
    • First we determine the Scan size, which determines how far from the current calibration the robot will scan. The scanning will begin (scan size)/2 away from the current calibration. If this is the first time performing this calibration, we should enter 6 mm, however if we are just recalibrating, 4 mm should be fine, to save some time.
    • Step size determines the scanning accuracy. For best results we should select 10 μm, however do not exceed 20 μm, otherwise probing will be inaccurate.
    • Distance from lens Cal point determines the calibration PCB height in mm. Zero is calibrated to vacuum chuck height for bare tapes and core height for core tapes. If the PCB is higher, negative value is expected, if it is lower, positive value is expected. Default values is -1.59, which is the thickness of the calibration PCB when placed on the vacuum chuck.
  • Next we select the robot stage we want to calibrate, labeled with number 2.
  • Pressing the Position other stage button will start the other stage placement process. A pop-up window will open, asking if we want to automatically place the other stage.
    autoPosition.png

    If vacuum chuck is in its normal place and the PCB is placed to the labeled spot, we can press Yes. This will automatically position the other stage to the calibration PCB, as shown in the bottom image.
    20201214_094355.jpg

    If we are unsure if this position is correct, or if the calibration PCB is located in a different place, press No. This will open the Camera DIsplay and the Manual Control GUI.
    moveStage.png

    • To manually position the other stage to the arrow on the PCB, first select the correct Stage (number 1). This is the stage not selected in the main Camera - Probe GUI, under number 2.
    • Select the step size (number 2), for the initial movements, input 100, for more precise movements, input 20, 10 or any smaller number, depending on the desired move accuracy.
    • Each time step size is changed, press the Acquire Control button (number 3), to start controlling the stage.
    • Move around using WASD keys, until the probe is positioned above the arrow. The camera view should look like this in this position.
      otherStage.png
    • After pressing DONE, the probe will lower to the PCB. The setup should look like in the image about automatic stage placement.

2. Calibration process

-- MihaMali - 2020-12-24

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Topic revision: r2 - 2020-12-24 - MihaMali
 
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