Mitsubishi Electric MELFA CR800-D Series User Manual page 60
Industrial robot
Hide thumbs
Also See for MELFA CR800-D Series:
- User manual (194 pages) ,
- Instruction manual (60 pages) ,
- Standard specifications manual (128 pages)
Table of Contents
4 Calibration assistance function
9130
Error
Cause
Countermeasure
9131
Error
Cause
Countermeasure
9152
Error
Cause
Countermeasure
9154
Error
Cause
Countermeasure
9155
Error
Cause
Countermeasure
4-50 Workpiece coordinate calibration
calibration again.
Now, The XY component means the tool length from the
flange to the center of the camera.
b) When the object to be recognized is located within the field of
view of the camera
To be able to recognize the target correctly, Adjust the
recognition parameters etc. of the vision sensor.
Within the default retry count, The vision sensor could not be
moved in parallel (within the default value) to the XY plane of
workpiece coordinates.
Less number of retries, Or the termination condition may be strict.
a) Changing the number of retries
Please change the description line 259 of the program. The
initial value retry count is set to 10.
If MRTRY>10 Then
b) Change termination condition
Please change the description line 123 of the program. The
initial value is set to 1.0[deg].
If MDH<=1.0 Then
If the default value is small due to the resolution etc. of the vision
sensor, please change it to a large value.
Can not calculate the coordinates of the workpiece coordinate
origin.
Can not calculate the point (intersection) of the two position data.
Please set up two position data that can calculate the point
(intersection).
Within the default retry count, It was not possible to move the
recognition target to the image center (within the default value).
Less number of retries, Or the termination condition may be strict.
a) Changing the number of retries
Please change the description line 199 of the program. The
initial value retry count is set to 10.
If MRTRY>10 Then
b) Change termination condition
Please change the description line 123 of the program. The
initial value is set to 2. Addisionally, MSCale stores the distance
value [mm] per pixel.
If MDH<=(MSCale*2) Then
If the default value is small due to the resolution etc. of the vision
sensor, please change it to a large value.
Can not calculate the calibration data.
Corresponding points may be set incorrectly. Please check the
value of MErr in the program.
a) When MErr = -1
The auxiliary point is less than 4.
b) When MErr = -2
It is not possible to calculate calibration data from the set
corresponding points.
a) When MErr = -1
To calculate the calibration data, at least 4 pairs of corresponding
points are required. Please set up more than 4 pairs of
corresponding points.
b) When MErr = -2
There is a possibility that the corresponding point being set
exists on the same straight line. Please set corresponding
points so that they do not exist on the same straight line.
The estimation error of the calibration data exceeds the default
value.
The estimation error of the calibration data exceeds the default
value.
Estimated error [mm] of calibration data is stored in numerical
Hide quick links:
Table of Contents
