Mitsubishi CR750-Q Series User Manual

14 Calibration of Vision Coordinate and Robot Coordinate Systems ( “ B1 ” program)
14. Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
This chapter explains the tasks carried out by using “B1” program.
* “B1” program only contains operations required when constructing a vision tracking system.
These operations are not necessary when constructing a conveyer tracking system.
Calibration of a vision sensor refers to converting the position of a workpiece recognized by the vision
sensor to the corresponding position in the robot coordinate system.
This calibration operation is easily performed by the “Mitsubishi robot tool” in In-Sight Explorer. Refer to
"Mitsubishi robot tool manual for EasyBuilder" for the details of this function.
“B1” program performs specified tasks and allows acquiring the workpiece coordinates recognized by
the vision sensor in the robot coordinate system (position coordinates of robot movement).
The procedures of operations specified by “B1” program and items to be confirmed after the operations
are explained below.
This chapter explains on the assumption that "Mitsubishi robot tool" is used.
Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each
operation.
14.1. Operation procedure
1) To communicate the Mitsubishi robot tool and the vision sensor, set a necessary parameter by using RT
ToolBox2.
A necessary parameter is three (“NETIP", "Element 9 of NETTERM", and “CTERME19").
In RT ToolBox2, select [Online]-[parameter]-[parameter list].
Input the following parameters to "Parameter Name" of the displayed "Parameter list" screen and
change a “Setting value”.
Parameter Name
Initial value
Setting value
Explanation
NETIP
Q type
：
192.168.100.1
D type
：
192.168.0.20
xxx.xxx.xxx.xxx
IP address of robot controller
NETTERM(Element 9)
0
1
The end code is added with
communication.
CTERME19
0
1
The end code of port 10009 is
changed to “CR+LF”.
Please confirm whether the following parameters are initial values.
Parameter Name
Initial value
Explanation
NETPORT(Element 10)
10009
Port number allocated to device OPT19
CPRCE19
0
The protocol used is “Non-procedure”
NETMODE(Element 9)
1
Opens as “Server”.
14-54 Operation procedure

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English