Mitsubishi Electric MELFA CR800-D Series User Manual page 79

VSSetCP (Vision Set Calibration Point)
[Function]
In vision calibration, specify the combination (corresponding point) of the three-dimensional position (robot
coordinates) of the calibration mark and the mark position (image coordinates) of the image.
In order to perform the calibration, it is necessary to specify at least four corresponding points.
[Format]
VSSetCP <Calibration
<Position of image coordinates>，<Position of robot
<Calibration number>
<Setting number of corresponding
<Position of image
<Position of robot
[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) Both image coordinates and robot coordinates are registered using X, Y elements of position type data.
(2) Before registering the calibration data, it is necessary to set four or more corresponding points to be used
for the calibration with this command.
[Related instructions]
VSCalClr, VSRegCD
[Related state variables]
M_VSCErr
[Related parameter]
VSCALB1 to 8
number>，<Setting number of corresponding
point> Specify the correspondence point number of the
calibration.
coordinates>
coordinates>
'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.
point>，
coordinates>
Specify the calibration number to be registered.
Setting range: 1 to 8
Setting range: 1 to 20
Specify the position of image coordinates.
Specify the position of robot coordinates.
Robot Programming Language 4-69
4 Calibration assistance function