Mitsubishi Electric MELFA CR800-D Series User Manual page 87

M_VSCE
ｒｒ
[Function]
In the vision calibration function, it returns the estimation error [mm] of the calibration data estimated by the
VSRegCD command.
[Format]
<Numeric variable> = M_VSCErr(<Calibration number>)
<Numeric variable>
<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) The reliability (accuracy) of the registered calibration data can be calculated by using the corresponding
point group when calculating the calibration data and also setting the error [mm] between the robot
coordinate value and the robot coordinate value calculated from the image coordinate value and it will be
evaluated.
(2) This evaluation value means the accuracy of the calibration data and does not mean error when the robot
operates.
(3) If the calibration data is not registered, -1 is returned.
(4) If the accuracy of the calibration data is low, check the
[Related instructions]
VSRegCD
[Related parameter]
VSCALB1 to 8
Specify numerical variable to assign.
When estimation error can not be calculated, it becomes "-1".
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 camera 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.
Table 4-5 and re-execute the calibration.
Robot Programming Language 4-77
4 Calibration assistance function