YASKAWA Calibration Program

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

Before proceeding, make sure you have set up Standard Interface communication with the robot.

Select the Calibration Program

  1. Select JOB  SELECT JOB. Move the cursor to MM_AUTO_CALIB in the JOB LIST and press the SELECT key.

    choose caribrate file 1
    choose caribrate file 2

  2. The interface is as follows after the program file is selected.

    choose caribrate file 3

Teach the Calibration Start Point

  1. Move the robot to the start point for calibration. Move the cursor to MOVJ P099 VJ=5, and press the DIRECT OPEN key.

    calibrate start point 1

  2. Change the value of P099 to the current pose of the robot: Press the SERVO ON READY key. Press the MODIFY key and then the ENTER key while holding the enable switch on the back. Make sure the value for TOOL is 00.

    calibrate start point 1 1
    calibrate start point 1 2
    calibrate start point 1 3
    calibrate start point 2

  3. Press the DIRECT OPEN key again to return to JOB CONTENT.

Run the Calibration Program

  1. Move the cursor back to line 0000, turn the mode switch to PLAY mode, press the SERVO ON READY key.

    run program 1
    run program 2

    To move the robot at low speed, go to UTILITY  SETUP SPECIAL RUN, and change SPEED LIMIT to VALID.

    low speed run 1
    low speed run 2

  2. Press the green START button on the teach pendant. The program starts to run when the button lights up.

    run program 3
    In case of emergency, press the pause button or emergency stop button on the teach pendant to stop the robot immediately.

  3. Proceed to the next section when the following message is displayed in the Console tab of Mech-Vision Log panel: Entering the calibration process, please start the calibration in Mech-Vision.

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 based on different camera mounting methods to complete the configuration.

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.

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