Mitsubishi Electric MELFA CR800-D Series User Manual page 42

4 Calibration assistance function
⑦ Select override.The default setting is 5%.
※Please drop the robot speed as much as possible in order to avoid the influence of vibration etc.
（Override 10% or less）
⑧ Press [Start] button to start operation.
⑨ When the operation ends normally, the stop button lights up. The calculation result of the calibration is
stored in the parameter VSCALBn. The n is the specified calibration number.
The operation of the robot in automatic calibration is shown below.
1) The robot's hand moves to the initialized point.
2) To calculate the camera angle and scale, the robot's hand moves from the initialized point by the
value set at the second teaching point and the third teaching point.
3) In order to calculate the marker tool, the robot's hand rotates around the marker in +C axis
drection on the tool coordinate in order of 0, 5, 20, 45, 90 degree.
Note) If there is a possibility of interference with the surroundings, change the angle of the C
component of the position variables PAngle (1) to PAngle (5) in the robot program.
4) To calculate the calibration data, the robot's hand moves to teaching points.

Caution

No.
9100
9101 to 9120
4-32 Automatic Calibration
When changing the generated robot program and re-executing the robot program,
close the O/P and open the O/P again before executing.
When deleting the generated robot program, please confirm that the Automatic
Calibration screen is closed before deleting the robot program.
If the Automatic Calibration screen is not closed, you may get an error saying "The
program is being edited", "Cannot delete designated files".
Table 4-4 Automatic calibration's trouble shooting
Error Can not get the recognition result of the vision sensor.
Cause There is a possibility that the vision sensor has failed to
recognize.
Countermeasure a) When the object to be recognized is outside the field of view
b) When the object to be recognized is located within the field of
To be able to recognize the target correctly, Adjust the
recognition parameters etc. of the vision sensor.
Error
At the Nth teaching point, the recognition result of the vision
sensor could not be acquired.
Please judge the teach point number N with the error number
lower two digits.
Cause There is a possibility that the vision sensor has failed to
recognize.
Countermeasure a) When the object to be recognized is outside the field of view
b) When the object to be recognized is located within the field
Cause of and countermeasure
of the camera
Please change the XY component of the position
①
variables POFS (2), POFS (3) in the program to a
value located within the field of view of the camera.
POFS (2) and POFS (3) mean the teaching points
No. 2 and No. 3, respectively.
Change the angle of the C component of the
②
position variables PAngle (1) to PAngle (5) in the
program to a value located within the field of view of
the camera. PAngle (1) to PAngle (5) are used to
calculate tool length data.
view of the camera
of the camera
Change the XY component of the position variable POFS
(N) in the program to a value located within the field of view
of the camera.
ofview of the camera