Operating Procedure Of 2D Vision Calibration - Mitsubishi Electric MELFA FR CR800 Series User Manual

18.5.2. Operating procedure of 2D vision calibration

This section explains operating procedure of vision calibration
(1) Starting 2D vision calibration
Use this function while connected to a robot controller.
Double-click the target project [Tool] -> [2D Vision Calibration] on the project tree to start 2D vision calibration.
(2) Select calibration number
Select the tab of a desired number.
The maximum number of calibration settings combo box switchingly usable is 8.
(3) Teaching points
Click the row which you want to teach a point, to move the selected line cursor.
Position the tool center point at the calibration marker.
Click the [Get the robot position] button to get the current robot position.
Robot.X and Robot.Y in the selected row are filled in and the [Enabled] checkbox is checked automatically
You cannot edit teaching points before clicking the [Get the robot position] button.
Measure the position of the calibration marker with the vision sensor.
Enter the X, Y pixel coordinate positions in Camera.X and Camera.Y respectively.
For the method of getting the pixel coordinates, refer to your vision sensor's manual.
If the combination of vision sensor coordinates and robot coordinates is wrong or the teaching points are closely
spaced, incorrect calibration data may be calculated.
Vision calibration needs a minimum of 4 teaching points. For accurate calibration, 9 or more points arranged
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Figure 18-60 Starting 2D vision calibration
Figure 18-61 Calibration number tab
Automatic input
Figure 18-62 Input teaching points
Manual input
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