4 Calibration assistance function
Robot Programming Language 4-69
VSSetCP (Vision Set Calibration Point)
[Function]
In vision calibration, specify the combination (corresponding point) of the three-dimensional position (robot
coordinates) of the calibration mark and the mark position (image coordinates) of the image.
In order to perform the calibration, it is necessary to specify at least four corresponding points.
[Format]
VSSetCP <Calibration number>，<Setting number of corresponding point>，
<Position of image coordinates>
，
<Position of robot coordinates>
<Calibration number> Specify the calibration number to be registered.
Setting range: 1 to 8
<Setting number of corresponding point> Specify the correspondence point number of the
calibration.
Setting range: 1 to 20
<Position of image coordinates> Specify the position of image coordinates.
<Position of robot coordinates> Specify the position of robot coordinates.
[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) Both image coordinates and robot coordinates are registered using X, Y elements of position type data.
(2) Before registering the calibration data, it is necessary to set four or more corresponding points to be used
for the calibration with this command.
[Related instructions]
VSCalClr, VSRegCD
[Related state variables]
M_VSCErr
[Related parameter]
VSCALB1 to 8
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