Mitsubishi Electric MELFA CR800-D Series User Manual page 78

4 Calibration assistance function
VSCalClr (Vision Calibration Clear)
[Function]
In the vision calibration, erase all corresponding points and calibration data set for the target calibration
number.
[Format]
VSCalClr <Calibration number>
< Calibration number >
[Reference Program]
1 Dim P(4)
2 CPRG$="PatternMatching.job"
3 VSCalClr 1
4 For M1=1 To 4
5 Mov P(M1)
6 Dly 0.5
7 NVRun #1, CPRG$
8 EBRead #1, , MNUM, PV
9 PCam=PV
10 PRob=P_Fbc
11 VSSetCP 1, M1, PCam, PRob
12 Next
13 MErr=VSRegCD 1
14 If MErr<>0 Then Error 9100
15 MCalErr=M_VSCErr(1)
16 If MCalErr>0.25 Then Error 9100
[Explanation]
(1) All correspondence points and calibration data set by the VSSetCP instruction are deleted. Please use
with care.
[Related instructions]
VSSetCP, VSRegCD
[Related state variables]
M_VSCErr
[Related parameter]
VSCALB1 to 8
4-68 Robot Programming Language
Specify the target calibration number.
Setting range: 1 to 8
'Set vision job name.
'Clear corresponding point.
'Move to capturing position.
'Run vision.
'Capture recognition result.
'Assign image coordinates.
'Assign robot coordinates.
'Set corresponding points to be used for calibration.
'Registering calibration data.
'Failed to register the calibration data.
'Estimate error of calibration data.