Mitsubishi Electric MELFA CR800-D Series User Manual page 59

(4-6) Operation execution
Select the robot's calibration program and run it.
① Make sure there are no interfering objects.
② Online the vision sensor.
③ Push the [ENABLE] switch of T/B and disable T/B. Set the controller mode to "AUTOMATIC".
④ Select Override in T/B.
* In order to avoid the influence of vibrations etc and to make operation even a little accurate, Please
drop the robot speed. (Override 10% or less)
⑤ Select the calibration program (program: WRKCALB.prg) at T/B.
⑥ Start the program at T/B.
⑦ Operation ends normally and the program stops with the Hlt instruction on the end line.
<OPERATION>
PROGRAM NAME:
WRKCALB
STATUS:READY
START
The operation of the robot in the workpiece coordinate 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 position variables POFS(1) and POFS(2).
3) The robot's hand moves so that the calibration sheet and the vision sensor are parallel.
The parallel pose of the vision sensor is the position variable PGoal.
The PGoal means the pose of the vision sensor in workpiece coordinate.
4) In order to calculate the position of the workpiece coordinate origin, the robot's hand moves by
the set position variables PAng.
No.
9101 Error
Cause
Countermeasure
9102 Error
Cause
Countermeasure
10% Auto
STEP:
00094
MODE: CONT
CYCLE RESET CHOOSE
123
Table 4-7 Troubleshooting workpiece coordinate calibration
Can not get the recognition result of the vision sensor.
（Recognition target：Origin mark of workpiece coordinates）
There is a possibility that the vision sensor has failed to recognize.
a) When the object to be recognized is outside the field of view of
the camera
Please change the XY component of the position variables
POFS (1), POFS (2) in the program to a value located within the
field of view of the camera.
b) When the object to be recognized is located within the field
ofview of the camera
To be able to recognize the target correctly, Adjust the
recognition parameters etc. of the vision sensor.
Can not get the recognition result of the vision sensor.
(Recognition target：Teaching mark of workpiece coordinates)
The vision sensor may not recognize the four teach points.
a) When the object to be recognized is outside the field of view of
the camera
① Make sure that the Z component of the position variable
② Please check whether the XY component of the position
Waiting on end line
Cause and countermeasure
PCamTL in the program is correctly entered.
variable PCamTL in the program is correctly entered.
When the value is incorrect, Please perform hand eye
Workpiece coordinate calibration 4-49
4 Calibration assistance function