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Calibration

Outline

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

Homogeneous transform matrix of sensor detection position 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） Sensor detection position X [mm] Nx for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（01） Sensor detection position Y [mm] Ox for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（02） Sensor detection position Z [mm] Ax for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（03） Ox for the default posture of holding the work on the Homogeneous Translation Type Sensor detection position X [mm]
CALDATA（10） Oy for the default posture of holding the work on the Homogeneous Translation Type Ny for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（11） Oz for the default posture of holding the work on the Homogeneous Translation Type Oy for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（12） Ax for the default posture of holding the work on the Homogeneous Translation Type Ay for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（13） Ay for the default posture of holding the work on the Homogeneous Translation Type Sensor detection position Y [mm]
CALDATA（20） Az for the default posture of holding the work on the Homogeneous Translation Type Nz for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（21） 0 Oz for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（22） 0 Az for the default posture of holding the work on the Homogeneous Translation Type
CALDATA（23） 0 Sensor detection position Z [mm]

Ver.1.11.* or lower

Ver.1.12.* or higher

Parameter name Description
Conveyor Base Position Rx RX of default posture of holding the work [deg]
Conveyor Base Position Ry RY of default posture of holding the work [deg]
Conveyor Base Position 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 work piece passes this limit, a robot starts the conveyor catch-up motion. [mm]
Downstream limit of the Tracking range Once a work piece reaches this limit, robot stops the conveyor catch-up motion and starts deceleration. [mm]

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

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