49 / 109Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
9 Start-up and recommissioning
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to record the same pose twice.
5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9
poses are possible.
6. Select the calibration plate used as the calibration body.
All calibration plates from KUKA are available for selection. Each calibra-
tion plate has a different size which is marked on the plate. The calibration
plate used can be determined on the basis of size.
7. Press Calibrate. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.
Recommendation: For the first pose, the cameras should be directly
above the calibration plate. In every pose, the cameras should be at
a different angle relative to the calibration plate; for this, the robot
must be moved.
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