Mitsubishi Electric MELFA CR800-D Series - Page 43

4 Calibration assistance function
Automatic Calibration 4-33
To be able to recognize the target correctly, Adjust the
recognition parameters etc. of the vision sensor.
9152
Error
Within the default retry count, It was not possible to move the
recognition target to the image center (within the default value).
Cause
Less number of retries, Or the termination condition may be
strict.
Countermeasure
a) Changing the number of retries
Please change the description line 126 of the program. The
initial value retry count is set to 10.
If MRTRY>10 Then
b) Change termination condition
Please change the description line 123 of the program. The
initial value is set to 2. MSCale stores the distance value [mm]
per pixel.
If MDH<=(MSCale*2) Then
If the default value is small due to the resolution etc. of the
vision sensor, please change it to a large value.
9153
Error
Can not calculate the tool length.
Cause
The auxiliary point used to calculate the tool length may be
incorrectly set.
Please check the value of numerical variable
MErr in the program.
a) When MErr = -1
The auxiliary point is less than 3.
b) When MErr = -2
It is not possible to calculate the tool length from the specified
auxiliary point.
c) When MErr = -3
Estimated error of calculated tool data is 100 mm or more.
Countermeasure
a) When MErr = -1
To calculate the tool length, at least three points of auxiliary
points are required. Please set at least 3 auxiliary points.
b)When MErr = -2
There may be multiple same auxiliary points set up. Please
set the auxiliary point again.
c) When MErr = -3
Please set the auxiliary point again.
9154
Error
Can not calculate calibration data.
Cause
Corresponding points may be set incorrectly. Please check the
value of MErr in the program.
a) When MErr = -1
The auxiliary point is less than 4.
b) When MErr = -2
It is not possible to calculate calibration data from the set
corresponding points.
Countermeasure
a) When MErr = -1
To ca
lculate the calibration data, at least 4 pairs of
corresponding points are required. Please set up more than 4
pairs of corresponding points.
b) When MErr = -2
There is a possibility that the corresponding point being set
exists on the same straight line.
Please set corresponding
points so that they do not exist on the same straight line.
9155
Error
The estimation error of the calibration data exceeds the default
value.
Cause
The estimation error of the calibration data exceeds the default
value.
Countermeasure
Estimated error [mm] of calibration data is stored in numerical
variable MScore in the program.
If the estimation error is large, check Table 4-
5 on the
confirmation items at the time of execution, Please re-execute
the calibration.