ESTUN Automatic Calibration

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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.

calibration process

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. Select and Modify Calibration Program

  2. Teach Calibration Start Point

  3. Run Calibration Program

1. Select and Modify Calibration Program

  1. In teach mode, press the folder button on the teach pendant, expand MM_Interface, select MM_AUTO_CALIBRATION, and tap Load to open the program file.

    estun calibration 1

  2. In the opened program file, check the value of P:PORT.value (this value must match the host port number set in Mech-Vision). Then, check the values of P:IP.value[1]~P:IP.value[4] (these four values must correspond to the four segments of the IPC’s IP address).

    estun calibration 2

    If you need to modify these values, refer to the following example. The example below demonstrates how to change 127 to 192 in line 9.

    1. Select line 9 and tap Modify.

      estun calibration 3

    2. Place the cursor on 127 and tap Modify.

      estun calibration 4

    3. Enter 192, then tap OK  Confirm in sequence.

      estun calibration 5

  3. Comment out the code lines where the initial joint positions are defined. Follow these steps:

    1. Tap MultiSelect, then tap Line 14, and then tap Line 19 to select lines 14 to 19.

    2. Tap Edit  // on the right pane to comment out lines 14 to 19. The lines will be displayed in green font, indicating that the commenting was successful.

      estun calibration 7

2. Teach Calibration Start Point

  1. In manual mode, 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.

  2. Select the line MMovJ(P:CALIB_START), go to the Quick tab, tap Teach, and confirm to continue teaching.

    estun calibration 6

3. Run Calibration Program

  1. Turn the key switch on the teach pendant to position A to switch to Auto mode.

    estun 41

  2. Press the Step button (position 1 in the figure) and confirm that the program is in continuous running mode (position 2 in the figure).

    estun 42

  3. Press the Mot button (position 1 in the figure) and confirm that the enable indicator light (position 2 in the figure) is lit.

    estun 43

  4. Press the Start button to run the program.

    estun 44

  5. 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.

    start calilbration1

  6. 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.

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