Mitsubishi Electric MELFA CR800-D Series User Manual page 32

4 Calibration assistance function
(4-3) Set robot data
Set calibration data from the automatic calibration screen of RT ToolBox 3.
① Launch the automatic calibration screen
Start RT ToolBox 3, select <Tool> - <Automatic Calibration>, Display the automatic calibration screen.
<Automatic Calibration> is not displayed when offline.
② Set the initial data
The Auto Calibration screen is set as follows.
Calibration
Camera Position
Vision Maker
COM Port
Tool No#
Marker Tool [mm]
4-22 Automatic Calibration
Select the the calibration number.
・Selection range：Calibration1 to Calibration8
Select camera setting method.Click the [Camera
Position] button to display the schematic diagram of the
setting method.
・Selection:Fixed Method（Top Fixed）/ Fixed Method
（Bottom Fixed）/ Hand-eye Method
Select maker of vision sensor.
・Selection:Only Cognex
Select COM port number.
・Selection range：COM2 to COM8
Select the tool parameter number. (*1)
・Selection range：Tool1 to Tool16
Set approximate value of marker tool length. (*2)
・Fixed Method: Tool coordinates from the flange center
to the mark position.
・Hand-eye Method: Tool coordinates from the center of
the flange to the camera center.