DENSO Automatic Calibration
This topic introduces the process of automatic calibration via Standard Interface communication between the DENSO 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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Turn the key of the teach pendant to MAN (the manual mode).
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In the main interface of the teach pendant, select Program in the lower-left corner.
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In the pop-up interface, select the MM_Auto_Calib.pcs program and then select Display.
2. Teach Calibration Start Point
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Select the line in which the P[99] position register is located. The line in which the P[99] position register is located is shown in the figure below. After selecting the line, the blinking cursor appears somewhere in the line (the cursor may blink at different locations in the line depending on the position where the selecting operation takes place). This indicates that the line is selected.
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The P[99] position register stores the pose of the starting point.
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The line that includes the word Calibration displayed in the figure below indicates a calibration command where the last parameter value represents the ID of the register that holds the pose data of the calibration starting point. You can change the value of the last parameter based on actual needs. The last parameter value in this calibration command is 98, which indicates that the pose data of the calibration starting point is stored in a register with a number of 98. For details of other parameters in the calibration command, see the calibration command description.
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Manually move the robot to the calibrated starting position.
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Select Get Position.
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In the pop-up dialog box, confirm that the value of the P[99] position register is modified and then select OK.
3. Run Calibration Program
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Turn the key of the teach pendant to AUTO (the automatic mode). Press the MOTOR key. The signal light of the MOTOR key will turn green, which indicates that the robot servo is powered on.
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In the program interface, select Start.
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Select Single-cycle in the pop-up dialog box and select OK.
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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.