Manual

5-20 Programming
4. Once the camera cross hairs are centered as desired, click the Teach button in the camera
window.
 For instructions with more than one coordinate, clicking the
Teach button in the camera
window will teach the position indicated by the arrows and then move the arrows to the
next position. For example, if the arrows are at "Begin X" and Begin "Y", that position
will be taught and the arrows will then move to "End X" and "End Y".
5.9.5.2 Fiducial Find Camera
When a system is enabled for vision with fiducial find, fiducials can be added to any pattern by inserting
fiducial instructions into the pattern. There should be one instruction for each desired fiducial.
The fiducial instruction contains information about the fiducial, such as the expected position, the model
image, the lighting settings, and the acceptance and confusion thresholds. See below.
A single fiducial produces a translational correction (X and Y only), and 2 or more fiducials should
produce a translation and rotation best fit for the pattern.
The correction from a fiducial instruction is in effect until the pattern containing it completes execution.
Therefore, fiducial instructions are normally placed before coating instructions in a pattern, and the
correction they produce applies to the remaining instructions in the pattern (including Place Pattern
instructions).
Acceptance and Confusion Thresholds:
The Acceptance Threshold is a minimum "score" that a feature must meet or exceed to be considered a
candidate for the desired fiducial. When the vision system finds a potential fiducial, it assigns a score to
the feature based on how well it matches the previously taught model. If the score of the potential
fiducial does not meet or exceed the Acceptance Threshold, the vision system will automatically
disregard the feature and continue searching. The recommended setting is within the range of 500-800.
The Confusion Threshold is the maximum score that could be assigned to a "wrong" feature in the field of
view. The Confusion Threshold should be set greater than or equal to the Acceptance Threshold. The
recommended setting is within the range of 500-900. If a feature scores higher than the Confusion
Threshold, the vision system concludes that it must be the correct feature and immediately terminates the
search.
If a feature scores above the Acceptance Threshold, but below the Confusion Threshold, the Vision
System will flag the feature as a "candidate" match, but will continue searching for a better match.
To program with fiducial find:
 NOTE Make sure the Genie camera is selected as both the tool and the pointer in the Edit
Screen as the camera will be used to teach and read the fiducial locations.
See Figure 5-14.
1. In the Edit Screen, select the pattern to insert the fiducials into and click on the Camera and
Vision tab as shown in Figure 5-19.
 This tab will not appear if the fiducial find option is not configured on the system.