Mitsubishi Electric MELFA FR CR700 Series User Manual

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18.5. 2D vision calibration
This section explains the 2D vision calibration function.
18.5.1. Summary
(1) Summary
2D vision calibration is a function to determine the relationship between the vision sensor’s coordinates and
the robot’s coordinates. You can have up to 8 switchable vision calibration data sets.
(2)
Figure 18-58 Summary of 2D vision calibration
The software version of the controller which can use this function is as follows.
Table 18-13 Supported robot controllers and model
No.
Model
CR800
CR750/700
CRn-500
1
Vertical 6-axis robot
All versions
R5/S5 or later.
Not available.
2
Vertical 5-axis robot
All versions
R5/S5 or later.
3
Horizontal 4-axis robot
All versions
R5/S5 or later.
(3) System components
The figure below shows the system components.
Perform the connection of the equipment before using this function Refer to the instruction manual of your
vision sensor.
R32TB/R33TB or
R56TB/R57TB
PC
Robot
CRnD / CRnQ-700
Q172DRCPU
CR75x-Q / CR75x-D
Vision sensor
Ethernet （TCP/IP）
Windows / RT ToolBox2
Robot controller
Figure 18-59 System component of 2D vision calibration
Robot’s coordinates
Vision sensor’s coordinates
Determining
the relationship

Mitsubishi Electric MELFA FR CR700 Series Specifications

General

Manufacturer	Mitsubishi Electric
Category	Robotics
Payload Capacity	7 kg
Reach	908 mm
Degrees of Freedom	6
Repeatability	±0.02 mm
Weight	27 kg
Series	MELFA FR CR700
Robot Type	Collaborative
Installation	Floor, Wall, Ceiling