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OpenPnP v4 Calibration

Calibration workflow for PikkoBot under OpenPnP v4. If you loaded the JUKI pre-calibrated config, steps 3 and 4 are partially complete — verify them rather than redo from scratch.

Hardware-level testing: to toggle valves, lights, vacuum sensors, jog axes, or send raw G-code without OpenPnP, use the PikkoBot Debug Tool (browser-based, USB serial, Chrome or Edge).

Calibration Sequence​

#StepJUKI config covers it?
1Top camera positionNo
2Bottom camera positionNo
3Nozzle concentric calibrationPartially
4Fiducial detection pipelinePartially
5Feeder setupNo
6Test job on a real PCBNo

1. Top Camera​

The top camera reads PCB fiducials and component positions on the staging plate.

  1. Go to Machine Setup → Cameras → Top Camera.
  2. Click Position Camera — the head moves to the camera's defined location.
  3. Confirm the camera is centered over the camera target on the staging plate.
  4. Adjust offsets in camera settings if off-center.

2. Bottom Camera​

The bottom camera images the nozzle tip from below to measure component rotation and offset after pick.

  1. Go to Machine Setup → Cameras → Bottom Camera.
  2. Pick a test component with nozzle 1.
  3. Jog the nozzle over the bottom camera — the component should appear centered.
  4. Adjust camera position if off-center.

3. Nozzle Concentric Calibration​

Calibrates the rotational center of each nozzle so the component does not orbit when the nozzle rotates.

  1. Go to Machine Setup → Heads → Head → Nozzles → Nozzle 1.
  2. Click Calibrate Nozzle Tip Runout.
  3. Follow the wizard — the nozzle rotates through angles and the camera measures offset at each.
  4. Repeat for Nozzle 2.
JUKI config: the pre-calibrated config ships with initial concentric values, but still run the wizard once — mechanical tolerances vary per unit.

4. Fiducial Detection​

  1. Place a PCB with known fiducials on the staging plate.
  2. Go to Job → PCB Fiducials → Run Detect Fiducials.
  3. OpenPnP highlights detected fiducials with a green box.
  4. If detection fails, see Debugging for vision pipeline tuning.

Low-Level Hardware Debug​

For verifying actuators, valves, vacuum sensors, jogging, feeder scans, and raw G-code outside OpenPnP: use the PikkoBot Debug Tool (browser-based, no installation, Chrome or Edge).

New to PikkoBot? Read the Getting Started guide or visit the Store to purchase.