QUESTION 1 : WHAT PARAMETERS ARE NEEDED IN ORDER TO MAKE SURE I CAN ACCURATELY TRACK AND LOCK FOCUS ON A TARGET IN LENSMASTER?
The camera settings are needed in order to be able to lock focus on any object. For this to be accurate, you need to add 5 important measurements to the software:
Z sensor value (Robot Preferences): That is the vertical distance between the robot flange and the lens central axis
Y sensor value (Robot Preferences): That is the horizontal projection between the middle of the flange and the lens central axis. If the lens is centered with respect to the flange, then this value is zero.
X sensor value (Robot Preferences): That is the horizontal distance from the central axis of the robot flange to the sensor position on the camera. If you slide the camera backward or forward, then this distance will change and needs to be updated accordingly.
Lens Length (FIZ settings): That is the distance from the sensor position that you used for the X sensor value, to the Last Glass where the focus begins to be measured. You need to add a Lens Length for every individual lens you add in your FIZ settings.
The last important value that we use for capturing to the target is either from Focus Distance or from Measurement to Object in the target manager.
The Focus Distance is acquired from your basic calibration data that you do in the FIZ settings. This needs to be accurate if you were to capture targets based on focus only.
If you add a target based on measurement in the target manager, then you simply add measurement from the Last Glass to the object - and that as well needs to be very accurate to capture the target correctly.
QUESTION 2: WHAT ARE THE TECHNICAL REQUIREMENTS OF THE KUKA AND HOST PC RUNNING LENSMASTER?
The robot must use a KRC 4 or KRC5 controller and requires RSI (Robot Sensor Interface 4.0 or newer) installed on it to communicate with Lensmaster. If you require 100% path repeatability then we further recommend getting these optional packages: Ready2Animate (R2A) Basic & Pro. Note that RSI alone is enough but will be nearly 99% repeatable when overlaying several video layers, however with R2A all your multi-layers will be 100% repeatable frame-on-frame.
The minimum specifications of the host PC running Lensmaster are an i5 core with at least 2GB of Video Memory and 16GB of RAM.
It is recommended to use an original XBOX joystick controller for additional jogging freedom for both robot and FIZ and any other axes as needed.
Last, you will need to order our FIZ box (camerabotics.com/fizbox).