Baumer VeriSens ID Series Technical Documentation Manual page 387

3. Performing coordinate adjustment in URCap
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v2.11.0-B4
Check for Z calibration, otherwise repeat Step
"K".
Selection: Choose the type of vision sensor
assembly (dynamic or stationary).
Selection: By default, the coordinate system
should be set to "Base", otherwise it must be
ensured that the Z-axis of the coordinate
system has the same Z-axis as the SmartGrid.
For dynamically installed vision sensors: UR
should be in the appropriate pose, the stored
installation pose is optimal.
Dynamic vision sensor: Place the SmartGrid at
object height, i.e. in the range of a good depth
of field
Stationary vision sensor: The SmartGrid is
clamped in the robot and driven with it to the
height of the object to be examined (optimum
depth of field).
Since all height distances are referenced to a
reference level, the distance from the top of
the SmartGrid to the reference level must be
entered here.
Press Initiate "coordinate adjustment"
Drive waypoints using both translation (at least
twice 10mm) and rotation (at least two times 5
°).
If the calibration quality is at least "good", you
can complete the calibration.
Complete the calibration with "Complete".
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Technical Documentation
VeriSens
Baumer Optronic GmbH
Radeberg, Germany
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