Mitsubishi Electric MELFA CR800-D Series - Page 32

4 Calibration assistance function
4-22 Automatic Calibration
(4-3) Set robot data
Set calibration data from the automatic calibration screen of RT ToolBox 3.
① Launch the automatic calibration screen
Start RT ToolBox 3, select <Tool> - <Automatic Calibration>, Display the automatic calibration screen.
<Automatic Calibration> is not displayed when offline.
② Set the initial data
The Auto Calibration screen is set as follows.
Calibration
Select the the calibration number.
・
Selection range
：
Calibration1 to Calibration8
Camera Position
Select camera setting method.Click the [Camera
Position] button to display the schematic diagram of the
setting method.
・
Selection:Fixed Method
（
Top Fixed
）
/ Fixed Method
（
Bottom Fixed
）
/ Hand-eye Method
Vision Maker
Select maker of vision sensor.
・
Selection:Only Cognex
COM Port
Select COM port number.
・
Selection range
：
COM2 to COM8
Tool No#
Select the tool parameter number. (*1)
・
Selection range
：
Tool1 to Tool16
Marker Tool [mm]
Set approximate value of marker tool length. (*2)
・
Fixed Method: Tool coordinates from the flange center
to the mark position.
・
Hand-eye Method: Tool coordinates from the center of
the flange to the camera center.