CGXi 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.
|
1. Teach Calibration Start Point
-
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.
-
On the teach pendant Program interface, tap . On the Settings panel on the right, tap Set waypoint.
-
In the following window, tap OK to record the robot’s current position as Waypoint_1.
2. Modify Calibration Program
-
On the teach pendant Program interface, open the mm_auto_calib subprogram and select the first script file (mm_open_socket.crscript).
-
Tap Edit, change the value of the mm_ip variable to the IPC’s IP address, and change the value of the mm_port variable to the host port configured in Mech-Vision. Then tap Apply.
3. Run Calibration Program
-
In the Robot main program, set the Call subprogram name to mm_auto_calib. Tap the Run button in the upper-right corner to execute the mm_auto_calib program.
-
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.
-
Perform Step 4 of Start calibration (which is Set motion path) and the subsequent operations based the following links.
-
If the camera mounting mode is eye to hand, see this document and proceed with the relevant operations.
-
If the camera mounting mode is eye in hand, see this document and proceed with the relevant operations.
-