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ID : 5359

Calibration

Outline

Calibration measures the exact positional relationship between the conveyor, vision sensor, and robot.
The calibration result is stored as the parameter shown below and used at the conveyor tracking operation.

Each conveyor 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 motion direction of a conveyor [rad]
Conveyor CALDATA(Z) Inclination seen from the XY plane of the base coordinate that shows the motion direction of a conveyor [rad]
Conveyor Feed Rate Amount of conveyor movement per one rotation of encoder [mm/rev]
Encoder Rotation Direction Rotational direction of encoder when the conveyor is moved from upstream to the downstream (1: Normal, -1: Reverse)

Parameters Related to the Positional Relation between Robot and Vision Sensor

Camera parameter, Coordinate of Zero point and default posture of holding the work are stored.

Between Ver.1.11.* or lower and Ver.1.12.* or higher, different storage format is used when performing calibration.
Also, in Ver.1.11.* or lower, different storage format was used by sensor tracking and by vision tracking.
The result of calibration performed by Ver.1.12.* or higher cannot be used with a controller of Ver.1.11.* or lower.

Parameter name Description (Ver.1.11.* or lower) Description (Ver.1.12.* or higher)
CALDATA（00） Vision sensor detection position X [mm] Nx for the Homogeneous Translation Type
CALDATA（01） Vision sensor detection position Y [mm] Ox for the Homogeneous Translation Type
CALDATA（02） Vision sensor detection position Z [mm] Ax for the Homogeneous Translation Type
CALDATA（03） Ox for the Homogeneous Translation Type Vision sensor detection position X [mm]
CALDATA（10） Oy for the Homogeneous Translation Type Ny for the Homogeneous Translation Type
CALDATA（11） Oz for the Homogeneous Translation Ttype Oy for the Homogeneous Translation Type
CALDATA（12） Ax for the Homogeneous Translation Type Ay for the Homogeneous Translation Type
CALDATA（13） Ay for the Homogeneous Translation Type Vision sensor detection position Y [mm]
CALDATA（20） Az for the Homogeneous Translation Type Nz for the Homogeneous Translation Type
CALDATA（21） 0 Oz for the Homogeneous Translation Type
CALDATA（22） 0 Az for the Homogeneous Translation Type
CALDATA（23） 0 Vision sensor detection position Z [mm]

Ver.1.11.* or lower

Ver.1.12.* or higher

Parameter name Description (Lower than Ver.2.0.*) Description (Ver.2.0.* or higher)
X Coordinate of Zero point 0 [pixel] X on the image coordinate [pixel]
Y Coordinate of Zero point 0 [pixel] Y on the image coordinate [pixel]

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 conveyor catch-up motion. [mm]
Downstream limit of the Tracking range Once a workpiece reaches this limit, robot stops the conveyor 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 : 5359

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