4 Calibration assistance function
Automatic Calibration 4-19
(4-1)Preparation and installation of equipment
In the automatic calibration, the robot recognizes the calibration plate while changing the posture and
proceed with work.The calibration plate is a product for customers.Please prepare the plate according to
the following contents.
a) Fixed method (Top fixed)
b) Fixed method (Bottom fixed)
c) Hand eye method
•There is a mark on the upper side
to make
the vision recognition,
please prepare the plate to be
attached to the hand.
•
It is recommended that the shape
of the mark be directional and
have many features of shape.
•It is
recommended that the size of
the mark be 1/10 of the vision field
of view, Wh
en it is difficult to
recognize, please prepare a larger
mark.
Fix the plate with the hand pointing straight down,
it is level with the robot installation surface.
that it is level with the robot
installation surface
•There is a mark on the upper side
to make the vision recognition,
please prepare the plate to be
attached to the hand.
•
It is recommended that the shape
of the mark be directional and
have many features of shape.
•
It is recommended that the size of
the mark be 1/10 o
area,
When it is difficult to
recognize, please prepare a larger
mark.
that it is level with the robot
installation surface
Fix the plate with the hand pointing straight
down, it is level with the robot installation
•There is a mark on the upper side
to make the vision recognition,
please prepare the plate to be
attached to the hand.
•
It is recommended that the shape
of the mark b
have many features of shape.
•It is recommended that the si
ze of
the mark be 1/10 of the vision field
of view,
When it is difficult to
recognize, please prepare a larger
mark.
The camera should be mounted
parallel to the Z direction of the
tool coordinate.
Place the plate on the side
where the target workv is
placed
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