EFORT Automatic Calibration
After you set up Standard Interface communication, you can connect the robot to perform automatic calibration. The overall workflow of automatic calibration is shown in the figure below.
Special note
During the calibration procedure, when you reach the Connect the robot step and the Waiting for robot to connect... button appears in Mech-Vision, perform the steps below on the robot side. After you perform the steps, proceed with the remaining steps in Mech-Vision.
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1. Select and Modify the Calibration Program
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In the teach pendant interface, click the Home icon in the upper-left corner, and then click TCP IP.
If TCP IP is not displayed on the teach pendant interface, click Settings on the taskbar; in the left navigation bar, click Application Selection; in the application list on the right, select TCP IP, and click Save. After the robot restarts, TCP IP will appear on the interface.
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In the following interface, set communication parameters and click Save.
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Protocol type: Select Client.
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Socket number: Select Socket 1. This socket number must be consistent with the first parameter value in MM_Init_Socket.
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Server IP: Enter the IPC IP address.
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Port: 50000. If the host port number in Mech-Vision is changed, change this port number 50000 accordingly so that it remains consistent with the host port number set in Mech-Vision.
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Timeout: 50000 microseconds.
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Heartbeat interval: 10000 microseconds.
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Start character: Leave empty.
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Terminator: Select CR($R).
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In the following interface, select the
MM_Module.XPLfile imported previously, and click Open. -
In the Program interface, select MM_Auto_Calib, click Edit, modify the parameters of the commands on the first and fifth lines according to the actual situation, and click Save.
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MM_InitSocket: The first parameter value must be consistent with the socket number. -
MM_Calibration: For the meanings of each parameter, see command description.
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2. Teach the Calibration Start Point
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Manually move the robot to the calibration start point.
You can use the position of the robot in the Check the Point Cloud Quality of the Calibration Board step as the calibration start point.
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In the following interface, select the third line and click Edit.
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Click Confirm to store the calibration start-point position into variable
Calibration, and then click Save.
3. Run the Calibration Program
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Move the cursor to the first line of the program and click Set PC.
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Switch the key switch to Auto mode. Press the PWR function key on the teach pendant to power on the servo. Press *鈻? (Start) on the teach pendant to run the program.
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When, in the Calibration 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 at the bottom.
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Perform Step 4 of Start calibration (which is Set motion path) and the subsequent operations based the following links.
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If the camera mounting mode is eye to hand, see this document and proceed with the relevant operations.
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If the camera mounting mode is eye in hand, see this document and proceed with the relevant operations.
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