Visual Calibration Procedure with a TP Panel

This document describes about the procedure of using the provided operation panel to easily perform "Vision - robot coordinate calibration" between a COBOTTA and the visual device.
Data must be imported to your controller to use the calibration operation panel.
For information of how to import, refer to Leveraging Existing Files of WINCAPSIII Guide.

Preparation

1. From the links in the table below, download the robot programs and BMP files and import them into your COBOTTA.
   

   Type	Data
   Operation panel for calibration	Calibration.pns (PNS:27KB) CalResult.pns (PNS:9KB) HelpRob.BMP (BMP:998KB) HelpVis1.BMP (BMP:998KB) HelpVis2.bmp (BMP:749KB) HelpVis3.bmp (BMP:749KB) Main.pns (PNS:601B) UserPanel.pns (PNS:352B)

2. If your visual device is a product of one of the following four manufacturers, vision coordinates can automatically be entered with centroid detection.
   Other visual devices can be used by manually entering vision coordinates.
   For supported visual devices, copy the robot program (TSR10.pcs) and visual program of each manufacturer; and then import the robot program and the visual program into a COBOTTA and an each manufacturer's visual device, respectively. The robot program TSR10.pcs is a robot program designed to receive data from a visual device.
   Start the operation panel after starting the robot program (TSR10.pcs).
   

   Manufacturer	Product	Data
   KEYENCE	XG series	inspect.dat (DAT:7KB) TSR10.pcs (PCS:969B)
   OMRON	FZ series	calibration.scn (SCN:6KB) TSR10.pcs (PCS:875B)
   Cognex	In-Sight series	3PointCal.job (JOB:47KB) TSR10.pcs (PCS:2KB)
   Panasonic Industrial Devices SUNX	PV series	Set00.PV2 (PV2:126KB) TSR10.pcs (PCS:1,004B)

3. Prepare a calibration jig (with a mark printed).
   The visual program determines the centroid position of a circle. Prepare marks with a cross in the centroid position (refer to the following figures) to make it easier to align the position of the robot tool with the centroid position.
   

   Example of a mark