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ID : 2874

Calibration

Outline

Calibration measures the exact positional relationship between the turntable, sensor, and robot.
The calibration result is stored as the parameter shown below and used when performing the tracking motion.

Each turntable needs to be calibrated respectively.

Parameters Related to the Positional Relation between Robot and Conveyor

Parameter name Description
Conveyor CALDATA(X, Y) Rotating angle around the Z axis of the base coordinate that shows the direction of rotary axis of the turntable [rad]
Conveyor CALDATA(Z) Inclination seen from the XY plane of the base coordinate that shows the direction of rotary axis of the turntable [rad]
Conveyor Feed Rate Amount of turntable movement per one rotation of encoder [deg/rev]
Encoder Rotation Direction Rotational direction of encoder when the turntable is moved from upstream to the downstream (1: Normal, -1: Reverse)

Parameters Related to the Positional Relation between Robot and Sensor

Homogeneous transform matrix of sensor detection position and default posture of holding the work are stored.

Parameter name Description
CALDATA（00） Nx for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（01） Ox for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（02） Ax for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（03） Sensor detection position X [mm]
CALDATA（10） Ny for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（11） Oy for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（12） Ay for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（13） Sensor detection position Y [mm]
CALDATA（20） Nz for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（21） Oz for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（22） Az for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（23） Sensor detection position Z [mm]

Parameter name Description
Conveyor reference coordinate Rx RX of default posture of holding the work [deg]
Conveyor reference coordinate Ry RY of default posture of holding the work [deg]
Conveyor reference coordinate Rz RZ of default posture of holding the work [deg]

Parameters Related to the Tracking Range

Parameter name Description
Upstream limit of the Tracking range Once a workpiece passes this limit, a robot starts the catch-up motion. [mm]
Downstream limit of the Tracking range Once a workpiece reaches this limit, robot stops the catch-up motion and starts deceleration. [mm]

Parameter name Description
Conveyor reference coordinate X Midpoint X between the calibration point on upstream limit and the calibration point on downstream limit [mm]
Conveyor reference coordinate Y Midpoint Y between the calibration point on upstream limit and the calibration point on downstream limit [mm]
Conveyor reference coordinate Z Midpoint Z between the calibration point on upstream limit and the calibration point on downstream limit [mm]

ID : 2874

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