Mitsubishi Electric MELFA CR800-D Series - Automatic Calibration Procedure

4 Calibration assistance function
4-16 Automatic Calibration
4.2 Automatic Calibration
(1)Function Outline
"Automatic calibration" is a function for matching the coordinate in the vision sensor with the coordinate in
the robot.
The function is possible to convert the image coordinate (work position, release position, etc.) measured
by the vision sensor into robot coordinate.
Z
Y
X
Robot coordinate
J
I
Image coordinate
(110, 340)
Robo
Ｈ
Cam
Calibration data
(430, 200, 210)
Figure 4-4 Automatic calibration image
(2) Standard Specifications
Table 4-2 Standard specifications of the Automatic calibration
Items
Specifications
Robot
Vertical 6-axis robot
Horizontal 4-axis robot
* It can’t be used with the vertical 5-axis robot and the user
robot.
Language
Only MELFA-BASIC VI
Number of the calibration data that can
be registered
8
（
VSCALB1 to 8
）
Number of correspondence points that
can be set for one calibration data
20 pairs
Remarks
Do not pass through the singular point of the robot, Please
teach the points of the calibration.
* Only the robot's XY plane can be used.