YASKAWA Automatic Calibration
This topic introduces the process of automatic calibration via Standard Interface communication between the YASKAWA robot and Mech-Mind Vision System.
Preparation before Calibration
Make preparation before calibration according to the camera mounting method.
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If the camera is mounted in the Eye to Hand method, see Preparation before Calibration in Automatic Calibration in the Eye-to-Hand Setup.
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If the camera is mounted in the Eye in Hand method, see Preparation before Calibration in Automatic Calibration in the Eye-in-Hand Setup.
Pre-calibration Configuration
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Open Mech-Vision, and click the Camera Calibration button in the toolbar. The Configuration before Calibration window will be prompted.
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Confirm that the checks are performed, click I’ve finished all checks, and then click Next.
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In the Select how to calibrate window, select the New calibration radio button, and then click the Next button.
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In the Select calibration task window, select Hand-eye calibration for listed robot from the drop-down list box, click the Select robot model button to select the robot model used by the project, and then click the Next button.
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In the Select camera setup window, select the camera mounting method in this project, and then click the Next button.
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In the Calibration method and robot control window, select Automatic and Standard Interface, and then click the Calibrate button to go to the Calibration window.
Calibration Procedure
Conduct calibration according to the camera mounting method.
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If the camera is mounted in the Eye to Hand method, see Calibration Procedure in Automatic Calibration in the Eye-to-Hand Setup.
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If the camera is mounted in the Eye in Hand method, see Calibration Procedure in Automatic Calibration in the Eye-in-Hand Setup.
Precautions
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When you proceed to the third calibration step (connecting the robot) and you click Start interface service button in the Connect the robot window, the button will change to Waiting for the robot to connect.... If the interface service is already started, you do not need to perform this operation.
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When the button displays Waiting for the robot to connect..., perform the following steps on the robot side. Then, continue the calibration in the software.
1. Select the Calibration Program
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Select . Move the cursor to MM_AUTO_CALIB in the JOB LIST and press SELECT on the teach pendant.
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The interface is as follows after the program file is selected.
2. Teach Calibration Start Point
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Press the SERVO ON READY key on the teach pendant, press and hold the enable switch on the back of the teach pendant, and then manually move the robot to the calibration starting point.
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Move the cursor to the MOVJ P099 VJ=5 line and press the DIRECT OPEN key on the teach pendant.
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Press MODIFY and ENTER to change the value of P099 to the current pose of the robot. Then, check to make sure that TOOL is set to 00, as shown in the following figure.
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Press DIRECT OPEN on the teach pendant again to return to JOB CONTENT.
3. Run Calibration Program
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Move the cursor back to line 0000, turn the mode switch to PLAY mode, press SERVO ON READY on the teach pendant.
To move the robot at a low speed, select on the teach pendant screen, and change SPEED LIMIT to VALID.
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Press the green START button on the teach pendant. The program starts to run when the button lights up.
In case of emergency, press PAUSE or STOP. -
When, in the Configuration window in Mech-Vision, the current status changes to connected and the button Waiting for the robot to connect changes to Disconnect robot, click Next. Next, proceed to the fourth step of the calibration process (i.e. setting the movement path).
Change the Extrinsic Parameter File
If the camera’s extrinsic parameter file has been used by a Mech-Vision project, you need to change the extrinsic parameter file used by the Mech-Vision project to a new one after you finish the hand-eye calibration.
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Select the Capture Images from Camera Step.
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In the Step Parameters panel, click
of the Calibration Parameter Group parameter, and select the newly calibrated extrinsic parameter file.
Calibration-Related Status Codes
During automatic calibration via Standard Interface communication, the vision system returns data together with the status code to the robot. Status codes, which are categorized into error codes and normal status codes, indicate the command execution status. Calibration related status codes are listed in the tables below.