Mitsubishi Electric MELFA CR800-D Series - Page 50

4 Calibration assistance function
4-40 Workpiece coordinate calibration
(4-4) Set condition data of robot
Open sample program "WRKCALB.prg" with T/B or RT ToolBox 3, please change condition data as
necessary.
The condition data can be changed by setting the position variable / program change.
The position variable and program description are as follows.
① Position variable
Variable
name
Elements
Contents
Initial value
PVSize
X
Vision resolution (Pixel value in X direction)[pixel]
(+640, +480, 0, 0, 0,
0)
Y
Vision resolution (Pixel value in X direction)[pixel]
PGoal
A
Final vision sensor posture
（
A,B,C
）
[deg] (Note 1)
（Please set the posture of the vision sensor in
workpiece coordinate.
）
(0, 0, 0, +180, +0,
-90)
B
C
PCamTL
Z
Approximate distance from flange center to
calibration sheet [mm]
(0, 0, +200, 0, 0, 0)
PW(1)
X
Elements in work coordinate No.1
(Note 2)
(+10, +10, 0, 0, 0, 0)
Y
PW(2)
X
Elements in work coordinates
(Note 2)
(+10, -10, 0, 0, 0, 0)
Y
PW(3)
X
Elements in work coordinates
(Note 2)
(-10, +10, 0, 0, 0, 0)
Y
PW(4)
X
Elements in work coordinates
(Note 2)
(-10, -10, 0, 0, 0, 0)
Y
PAng
A
The movement amount at the time of calculating
the work coordinate origin (X, Y, Z)
(Note 3)
(0, 0, 0, +5, 0, 0)
B
POFS(1)
X
Camera angle, amount of movement during scale
calculation
(Note 2)
(+10, +0, 0, 0, 0, 0)
Y
POFS(2)
X
Camera angle, amount of movement during scale
calculation
(Note 2)
(-10, +0, 0, 0, 0, 0)
Y
② Program
Contents
Sample program
Ethernet COM No.
(Note 4)
21 CCOM$="COM2:" ' Line number setting to open line
Vision job name
22 CPRG$="WRKCALB.job" 'Set vision job name
HandEye
Calibration No.
23 MHndENo = 1 'Hand Eye Calibration number
With handeye
calibration Set tool No.
24 MTLCalNo = 1 'Tool No.(Distance from flange to camera center)
CalibrationNo. of image
coordinates and work
coordinates
25 MCalNo = 2 'Calibration Nol.(Image coordinates
⇒
work coordinates)
Work coordinate No.
26 MWrkNo = 1 ' Work coordinate No. of registration destination
Distance from the lens
to the calibration sheet
[mm] (Note 1)
27 MFlng = 120 ' Focal length [mm]
Gain value
28 MGain = 1.0 'Gain value of feedback control
Tolerance of calibration
data [mm]
67 If MScore > 0.05 Then
Vision sensor No.
(Note 4)
99 If M_NvOpen(1) = 1 Then
101 Wait M_NvOpen(1)<>1
104 NVOpen CCOM$ As #1 ' Line open + log on
105 Wait M_NvOpen(1)=1 'Waiting logon to vision sensor
106 NVLoad #1,CPRG$ 'Load vision program
111 NVRun #1,CPRG$ 'Vision start
112 EBRead #1,,MRes,PVS,MNUM,PV(1),PV(2),PV(3),PV(4)
' Acquisition of recognition result
Move the work
coordinate origin to the
image center
196 If MDH<=(MSCale*2) Then ' within the specified value (± 1 pixel)