Acquire Image Tool Properties Customizing The Refinement Sequence The refinement configuration item defines all the parameters used when refining parts in the gripper before placing at a target. The motion sequence logic can be overridden: When the refinement program is customized, the system starts by creating a copy of the default refinement sequence. The default refinement sequence can be broken down into several steps:
l If normal camera refinement is enabled l Calculate the Approach, Move, and Depart Positions l Perform the Approach Sequence l Perform Move to Destination l Issue Camera Refinement Operation l Perform the Depart Sequence l If Vision-on-the-Fly refinement is enabled l Calculate the Start and End Positions l Move to the Start Position l Start Moving to the End Position l Trigger the Refinement Operation The definition of the default refinement program header looks like this: ACE Reference Guide, 18317-000 Rev A Page 700