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 foundReal x, y, uReal x0, y0, u0Real xTool, yTool, rTool, thetaTool 0
VRun findTipVGet findTip.tip.RobotXYU, found, x, y, uIf found Then' Get the TOOL 0 positionx0 = 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 axisxTool = x - x0yTool = y - y0' Calculate angle at initial offsetstheta = Atan2(xTool, yTool)' Calculate angle of tool when U is at zero degreestheta = theta - DegToRad(u0)' Calculate tool radiusrTool = Sqr(xTool * xTool + yTool * yTool)' Calculate final tool offsetsxTool = Cos(theta) * rToolyTool = Sin(theta) * rTool' Set the toolTLSet 1, XY(xTool, yTool, 0, 0)EndIf
Fend