Hand-Eye Automatic Calibration with the CRX Plugin

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This section introduces the process of calibrating the camera extrinsic parameters using the CRX plugin.

Create a Calibration Program

  1. Create a new robot program. The program name in this example is MM_AUTO_CALI. Select Programming, and follow the order to drag the commands in the ALL tab to the program line. Mech-System SocketInit → User Frame Select → Tool Frame Select → J → Mech-Eye Calibration

    crx 27

  2. Press Mech-System SocketInit on the program line to view the details of the command. Set the IP Address of IPC to the host address and set the Port of IPC to the port number configured in Mech-Vision.

    crx 28

  3. Press User Frame Select, and set the User Frame Number to 0.

    crx 29

  4. Press Tool Frame Select, and set the Tool Frame Number to 1.

    crx 30

Teach the Calibration Start Point

  1. Press J motion.

    crx 31

    1. Manually move the robot to the start point of the calibration. The start point for automatic calibration is at the center of the lowest layer in the calibration path.

    2. Select Pos.Reg, and enter the number of the pose register. The register 100 is used in this example. Then press the crx icon4 icon to display the Cart./Joint button.

      crx 32

    3. Press Cart./Joint to switch to Cartesian reference frame.

      crx 33

    4. Press the Touch Up button, and select OK in the dialog box to save the start point of calibration.

    crx 33 a

  2. Press Mech-Eye Calibration, and configure the parameters as shown in the figure below.

    • Motion Type: Specify the motion type during the automatic calibration process.

    • Data Type: The pose type the robot sends.

    • Wait Time: The time the robot waits to avoid shaking after it moves to the calibration point.

    • PR Index: Set the register number where the calibration start point is stored.

    crx 34

Run the Calibration Program

  1. Switch to the Automatic mode, and press Play in the lower left corner. Reduce the velocity, and then press Run.

    crx 35

  2. If the calibration program runs successfully, the message “Entering the calibration process, please start the calibration in Mech-Vision” and the received pose of the start point will be 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 based on different camera mounting methods to complete the configuration.

Once you have completed the hand-eye calibration, you can create a pick-and-place program to guide the FANUC CRX series robot to perform the picking task.

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