4 Calibration assistance function
4-68 Robot Programming Language
VSCalClr (Vision Calibration Clear)
[Function]
In the vision calibration, erase all corresponding points and calibration data set for the target calibration
number.
[Format]
VSCalClr <Calibration number>
< Calibration number > Specify the target calibration number.
Setting range: 1 to 8
[Reference Program]
1 Dim P(4)
2 CPRG$=”PatternMatching.job” 'Set vision job name.
3 VSCalClr 1 'Clear corresponding point.
4 For M1=1 To 4
5 Mov P(M1) 'Move to capturing position.
6 Dly 0.5
7 NVRun #1, CPRG$ 'Run vision.
8 EBRead #1, , MNUM, PV 'Capture recognition result.
9 PCam=PV 'Assign image coordinates.
10 PRob=P_Fbc 'Assign robot coordinates.
11 VSSetCP 1, M1, PCam, PRob 'Set corresponding points to be used for calibration.
12 Next
13 MErr=VSRegCD 1 'Registering calibration data.
14 If MErr<>0 Then Error 9100 'Failed to register the calibration data.
15 MCalErr=M_VSCErr(1) 'Estimate error of calibration data.
16 If MCalErr>0.25 Then Error 9100
[Explanation]
(1) All correspondence points and calibration data set by the VSSetCP instruction are deleted. Please use
with care.
[Related instructions]
VSSetCP, VSRegCD
[Related state variables]
M_VSCErr
[Related parameter]
VSCALB1 to 8
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