Mitsubishi Electric MELFA CR800-D Series - Page 27

4 Calibration assistance function
Automatic Calibration 4-17
(3) Camera setting method
Corresponding camera setting method by automatic calibration is as follows.
Table 4-3 Corresponding camera setting method by automatic calibration
Name Camera
Use the calculated
calibration data to
change the coordinate
Fixed method
(Top fixed)
Applicable to the workpiece at the
top, the camera faces down.
World coordinate
Fixed method
(Bottom fixed)
Applicable object workpiece is below,
camera facing up.
World coordinate
Hand eye method
Applicable to the camera attached to
the robot hand (under the flange).
Tool coordinate
Figure 4-5 Camera setting method
Fixed method (Top fixed)
Fixed method (Bottom fixed)
Hand eye method