Maintenance

To keep picking accuracy from deteriorating over time, run infield verification periodically, and re-run hand-eye or robot calibration if verification or picking performance shows a problem.

Infield Correction

We advise running infield verification once or twice annually as a preventive measure. It is also good to monitor for picking accuracy or mispicks to check if picking performance deteriorates. Then, on such behavior, verify the camera for dimension trueness and correct for it if necessary. To read more about Infield correction, go to our Infield Correction page. Infield correction might require repeating the hand-eye calibration; see below.

Hand-Eye Calibration

If the picking accuracy starts to deteriorate, re-running hand-eye calibration might be necessary, in addition to infield verification and correction. For more details on hand-eye calibration, go to Hand-Eye Calibration page.

On-Arm Mounting

Tip

Permanently mounting a Zivid calibration board (7x8 30mm, 300x300mm) in the scene allows for verifying camera dimension trueness as an automatic procedure, and without stopping the production. The same holds for performing hand-eye calibration; it can be done automatically, and without any mechanical changes to the cell.

Stationary Mounting

Tip

Permanently installing ArUco markers between the robot flange and the gripper allows for fully automating the Hand-Eye calibration process. The benefit is that the hand-eye calibration can be executed without stopping the production.

In addition, it is beneficial to have a system that allows quick mounting and dismounting of the Zivid calibration board (7x8 30mm, 300x300mm) on and from the robot. This allows one to perform infield verification and correction processes in addition to the hand-eye calibration process.

Robot Calibration

Let us assume that the infield verification gives good results and you have performed hand-eye calibration the same way as in pre-production preparation. If you are getting bad hand-eye calibration residuals or if the residuals are good but the robot positioning accuracy is not, there might be something wrong with your robot. In that case, we advise contacting your robot supplier for more information about performing robot kinematic calibration and robot mastering/zeroing.

Firmware Update

Each Zivid SDK version is matched with a specific camera firmware version. Whenever you upgrade the SDK, you must also update the camera firmware so that the two stay compatible.

For more details, see Firmware Update.