TM Calibration Program

This topic introduces the process of automatic hand-eye calibration when a TM robot communicates with Mech-Mind Vision System through Standard Interface.

Before performing the following operations, please make sure that:

The calibration process is as follows:

Load the Calibration program

  1. Click icon1 and select Project to open the window as shown below.

    ../../../../_images/tm_calibration_program1.png
  2. Click icon2, and select mm_calibaration in the pop-up window, and then click OK.

    ../../../../_images/tm_calibration_program2.png

Set the Start Point for Calibration

  1. Click Point Manager.

    ../../../../_images/tm_calibration_program3.png
  2. Click icon3 in the pop-up window.

    ../../../../_images/tm_calibration_program4.png
  3. Click Controller.

    ../../../../_images/tm_calibration_program5.png
  4. Adjust the robot pose in the Joint or Tool tab, and click Move when finished.

    Note

    This point is the first point where the camera captures the image for hand-eye calibration. Please make sure that the calibration board is at the center of the camera’s field of view.

    ../../../../_images/tm_calibration_program6.png

Configure the IP Address of the IPC

  1. Click the icon4 icon in the upper left corner of the mm_v01_init1 node.

    ../../../../_images/tm_calibration_program7.png
  2. Click send, and select vision3D_mm_mm_v01_init1_ntd_mm in the Network window.

    ../../../../_images/tm_calibration_program8.png
    ../../../../_images/tm_calibration_program9.png
  3. Click + in the Device window.

    ../../../../_images/tm_calibration_program10.png
  4. Enter the IP address of the IPC in the Add Device window and click OK.

    ../../../../_images/tm_calibration_program11.png

Run the Calibration Program

  1. In the Manual mode (the green Manual light is on), press the Run button on the Robot Stick to run the calibration program.

    ../../../../_images/tm_calibration_program12.png
  2. Make sure that the message “Entering the calibration process, please start the calibration in Mech-Vision” is displayed in the Console tab of Mech-Vision Log panel.

Complete Calibration in Mech-Vision

  1. In Mech-Vision, click Camera Calibration (Standard) on the toolbar, or select Camera ‣ Camera Calibration ‣ Standard from the menu bar.

  2. Follow the instructions in Mech-Vision to complete the configuration.

Note

If the robot does not reach the next calibration point within 60 seconds, Mech-Vision will report a timeout error and stop the calibration process. In such cases, please select and run the calibration program on the teach pendant again, and restart the calibration process in Mech-Vision.