Mitsubishi Electric MELFA CR800-D Series User Manual page 80
Industrial robot
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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
VSRegCD (Vision Register Calibration Data)
[Function]
In the vision calibration, calibration data is calculated using the set corresponding point (4 points or more),
the data is set to the robot controller (parameter VSCALB ), and the accuracy is
estimated.
[Format]
[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)
To use this command, it is necessary to set four or more corresponding points to be used for calibration
beforehand. (Use VSSetCP to set corresponding points)
(2)
Calibration data may not be registered if the corresponding point setting is registered incorrectly. If the
calibration data can not be registered (when the accuracy of the calibration data is low), check the
4-5
and re-execute the calibration.
[Related instructions]
VSCalClr,
VSSetCP
[Related state variables]
M_VSCErr
[Related parameter]
VSCALB1 to 8
4-70 Robot Programming Language
Specify the calibration number to be registered.
Setting range: 1 to 8
Returns the execution result.
0 :
Success
-1 :
Failure
Not enough auxiliary points. To calculate the tool length using at least
four auxiliary points, please set at least four auxiliary points.
-2 :
Failure
Calibration data can not be calculated from the set corresponding point.
There is a possibility that the corresponding point being set exists on the
same straight line. Please set corresponding points that do not exist on
the same straight line.
'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.
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