Mitsubishi Electric MELFA CR800-D Series User Manual page 44

4 Calibration assistance function
No.
1 Whether the corresponding point is set
correctly.
For example, Whether the order of the
argument of the instruction that sets the
corresponding point is wrong. The calibration
number is incorrect.
2 Whether OVRD speed is too high.
3 Whether there is interference light.
4 Whether lens distortion does not occur in
recognition image.
5 During calibration execution, Whether the
heights of the vision sensor and the robot
calibration marks changed.
6 Whether the mark for robot calibration is
specularly reflected and does not shine.
7 Whether the vision sensor (optical axis of the
lens) is perpendicular to the operation range
(calibration range).
8 Whether the origin setting of the robot is
correctly set.
9 Is the rotational component of the position data
in the unit setting parameter "PRGMDEG" set
to the factory setting "0" (unit: RAD)?
(4-6) saving / reading the setting data of the automatic calibration
① Save method
Click the [Save to file] button, the automatic calibration data is saved in the form of a file.
The extension is ".acin".
② Reading method
Click the [Read from file] button, select an automatic calibration data file saved on the computer,
you can read the data.
Please note that the calibration setting being edited will be cleared.
4-34 Automatic Calibration
Table 4-5 Items to check during automatic calibration
Check item
Solution
Please correctly set corresponding points.
Please set the OVRD speed to 10% or less.
Please block it if there is interference light.
Perform lens distortion correction.
Please use lens that lens distortion is unlikely to
occur.
Do not change the height between the vision
sensor and the mark for robot calibration.
Please change the position to a non-specular
reflection.
Set the vision sensor (optical axis of the lens) is
perpendicular to the operating range (calibration
range).
Please reset the origin of the robot.
Set parameter PRGMDEG to "0".