Mitsubishi Electric MELFA CR800-D Series - Page 33

4 Calibration assistance function
Automatic Calibration 4-23
Vision Range [mm]
Set the vision range of the vision sensor. (*3)
Please set the viewing range (X, Y) based on the base
coordinates.
Resolution [pixel]
Set the resolution of the vision sensor.
Please check the specification of the vision sensor to be
used.
(*1) In the process of calibration operation, calculate the following tool coordinates. Specify the storage
location of the tool coordinates at that time.
(*2) Please enter the length of the marker tool so that the calibration plate will not come out of the vision
sensor's field of view.
For the marker tool, please input the value in the mechanical interface coordinate.
The mechanical interface coordinate can be checked by 3D monitor in the RT ToolBox 3.
To display the mechanical interface coordinate, please select [Properties] -> [Robot Model] in 3D
monitor and set "Display tool coordinate system" and "Display tool position" as shown below.
(*3) An example of setting the Vision Range is shown.
In the case of the following figure, the Vision Range (x, y) is set to (30, 40).
Robot coordinate
X
Y
Image coordinates
X
Y
Vision range
30ｍｍ
40ｍｍ
fixed method
（
Top fixed）
fixed method
（
Bottom fixed）
Hand eye method
Tool coordinates (X, Y)
from the flange center
to the mark position
Tool coordinates (X,
Y) from the flange
center to the camera
center