Mitsubishi Electric MELFA CR800-D Series User Manual page 51

Tolerance [mm]
(Note 5)
Parallel the vision
sensor with the XY
plane of work
coordinates
Tolerance [deg]
(Note 4)
(Note 1) Please set PGoal, PCamTL, MFlng referring to the figure below.
Image coordinate
PGoal =
(0, 0, 0, 180, 0, -90)
X
(Note 2) Elements of work coordinates on the calibration sheet, please refer to as follows.
(Note 3) Mark at the center of camera view, do not leave the field of view after moving.
However, to improve accuracy, please set the value to move as far as possible to the edge of
the camera field of view.
(Note 4) Another vision sensor (Including 3D vision sensor) is connected or using the Open command,
Please do not duplicate numbers.
(Note 5) Tolerance after movement（initial value：MSCale*2mm）.
Vision recognition mark after moving, the correction operation is repeated until it falls within
this error.
If convergence does not occur even after 10 retries, error 9152 will be generated.
256 If MDH<=1.0
X
Image coordinate
Y
Z
Work coordinate
Y
PW(1)
Y
PW(3）
Then ' within the specified value (1 degree)
X
Y
MFlng = 120
Z
X
Work coordinate
Y
PW(2)
X
Workpiece coordinate
PW(4)
Workpiece coordinate calibration 4-41
4 Calibration assistance function
PCamTL =
(0, 0, 200, 0, 0, 0)