4 Calibration assistance function
Robot Programming Language 4-77
M_VSCE
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[Function]
In the vision calibration function, it returns the estimation error [mm] of the calibration data estimated by the
VSRegCD command.
[Format]
<Numeric variable> = M_VSCErr(<Calibration number>)
<Numeric variable> Specify numerical variable to assign.
When estimation error can not be calculated, it becomes "-1".
<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 camera 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) The reliability (accuracy) of the registered calibration data can be calculated by using the corresponding
point group when calculating the calibration data and also setting the error [mm] between the robot
coordinate value and the robot coordinate value calculated from the image coordinate value and it will be
evaluated.
(2) This evaluation value means the accuracy of the calibration data and does not mean error when the robot
operates.
(3) If the calibration data is not registered, -1 is returned.
(4) If the accuracy of the calibration data is low, check the Table 4-5 and re-execute the calibration.
[Related instructions]
VSRegCD
[Related parameter]
VSCALB1 to 8
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