Mitsubishi Electric MELFA CR800-D Series User Manual page 82

4 Calibration assistance function
PVSDrct (PVS Direction)
[Function]
Estimate the camera posture from the vision calibration data.
However, it is necessary to give the internal parameters of the vision sensor as an argument.
[Format]
<Position variables> = PVSDrct(<Calibration number>,
<Position variables>
<Calibration number>
<Internal parameter
<Internal parameter
<Internal parameter
<Internal parameter
Focal length [mm]
(Workpiece distance)
[Reference Program]
1 Dim PW(4), PV(4)
2 VSCalClr 1
3 For M1 = 1 To 4
4 VSSetCP 1, M1, PV(M1), PW(M1)
coordinates and work coordinates
5 Next M1
6 MRes = VSRegCD 1
7 If MRes <> 0 Then
8 Error 9100
9 EndIf
10 'MPRMA :
direction
11 'MPRMB :
direction
12 'MPRMC :
13 'MPRMD :
14 PVSPose = PVSDrct( 1, MPRMA, MPRMB, MPRMC, MPRMD )
work coordinates
[Explanation]
(1) Estimate the camera posture (relative to the plane of vision calibration) from the vision calibration data and
4-72 Robot Programming Language
<Internal parameter
Specifies the position variable to assign.
Specify the target calibration number.
Setting range: 1 to 8
A> Focal length [mm] /
direction
B> Focal length [mm] /
[mm/pixel]
C> Horizontal image center value
D> Vertical image center value
Vertical image
center value
[pixel]
Physical spacing of pixels in the vertical direction
= Mark actual distance [mm] /
' Clear corresponding point.
Internal parameter A (Focal length [mm] /
[mm/pixel])
Internal parameter B (Focal length [mm] /
[mm/pixel])
Internal parameter C (Horizontal image center value
Internal parameter D (Vertical image center value
<Internal parameter
B>, <Internal parameter C>,<Internal parameter
Physical spacing of pixels in the horizontal
[mm/pixel]
Physical spacing of pixels in the vertical direction
[pixel]
Horizontal image
center value [pixel]
Distance in pixels
'Set corresponding
'Register calibration data
Physical spacing of pixels in the horizontal
Physical spacing of pixels in the vertical
A>,
[pixel]
Physical spacing of pixels in the
horizontal direction [mm/pixel]
= Mark actual distance [mm] /
in pixels [pixel]
[mm/pixel]
[pixel]
points between
[pixel])
[pixel])
'Posture of vision sensor in
D>)
Distance
vision