Mitsubishi Electric MELFA CR800-D Series User Manual page 50

4 Calibration assistance function
(4-4) Set condition data of robot
Open sample program "WRKCALB.prg" with T/B or RT ToolBox 3, please change condition data as
necessary.
The condition data can be changed by setting the position variable / program change.
The position variable and program description are as follows.
① Position variable
Variable
name
PVSize
PGoal
PCamTL
PW(1)
PW(2)
PW(3)
PW(4)
PAng
POFS(1)
POFS(2)
② Program
Contents
Ethernet COM No.
(Note 4)
Vision job name
HandEye
Calibration No.
With handeye
calibration Set tool No.
CalibrationNo. of image
coordinates and work
coordinates
Work coordinate No.
Distance from the lens
to the calibration sheet
[mm] (Note 1)
Gain value
Tolerance of calibration
data [mm]
Vision sensor No.
(Note 4)
Move the work
coordinate origin to the
image center
4-40 Workpiece coordinate calibration
Elements
X Vision resolution (Pixel value in X direction)[pixel]
Y Vision resolution (Pixel value in X direction)[pixel]
A
Final vision sensor posture（A,B,C）[deg] (Note 1)
B
（Please set the posture of the vision sensor in
C
workpiece coordinate.）
Z Approximate distance from flange center to
calibration sheet [mm]
X Elements in work coordinate No.1 (Note 2)
Y
X Elements in work coordinates
Y
X Elements in work coordinates (Note 2)
Y
X Elements in work coordinates (Note 2)
Y
A The movement amount at the time of calculating
the work coordinate origin (X, Y, Z) (Note 3)
B
X Camera angle, amount of movement during scale
calculation (Note 2)
Y
X Camera angle, amount of movement during scale
calculation (Note 2)
Y
21 CCOM$="COM2:"
22 CPRG$="WRKCALB.job"
23 MHndENo =
24 MTLCalNo =
25 MCalNo =
26 MWrkNo =
27 MFlng =
28 MGain =
67 If MScore >
99 If M_NvOpen(1) = 1 Then
101 Wait M_NvOpen(1)<>1
104 NVOpen CCOM$ As
105 Wait M_NvOpen(1)=1
106 NVLoad #1,CPRG$
111 NVRun #1,CPRG$
112 EBRead #1,,MRes,PVS,MNUM,PV(1),PV(2),PV(3),PV(4)
196 If MDH<=(MSCale*2) Then
Contents
(Note 2)
Sample program
' Line number setting to open line
'Set vision job name
1 'Hand Eye Calibration number
1 'Tool No.(Distance from flange to camera center)
2 'Calibration Nol.(Image coordinates⇒work coordinates)
1 ' Work coordinate No. of registration destination
120 ' Focal length [mm]
1.0 'Gain value of feedback control
0.05 Then
#1
' within the specified value (± 1 pixel)
Initial value
(+640, +480, 0, 0, 0,
0)
(0, 0, 0, +180, +0,
-90)
(0, 0, +200, 0, 0, 0)
(+10, +10, 0, 0, 0, 0)
(+10, -10, 0, 0, 0, 0)
(-10, +10, 0, 0, 0, 0)
(-10, -10, 0, 0, 0, 0)
(0, 0, 0, +5, 0, 0)
(+10, +0, 0, 0, 0, 0)
(-10, +0, 0, 0, 0, 0)
' Line open + log on
'Waiting logon to vision sensor
'Load vision program
'Vision start
' Acquisition of recognition result