TM 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. Load the Calibration Program

  2. Set the Start Point for Calibration

  3. Configure the IP Address of the IPC

  4. Run Calibration Program

1. Load the Calibration Program

  1. In manual mode (with the Manual light on), open the robot software. Then, click tm calibration programicon1 and select Project to open the window as shown below.

    tm calibration program1

  2. Click tm calibration programicon2, and select mm_calibaration in the pop-up window, and then click OK.

    tm calibration program2

2. Set the Start Point for Calibration

  1. Click Point Manager.

    tm calibration program3

  2. Click tm interface program icon3 in the pop-up window.

    tm calibration program4

  3. Click Controller.

    tm calibration program5

  4. Adjust the robot pose on the Joint or Tool tab, and then click Move. The adjusted robot pose will be used as the start point for calibration.

    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.
tm calibration program6

3. Configure the IP Address of the IPC

  1. Click the tm interface program icon4 icon in the upper-left corner of the mm_v01_init1 node.

    tm calibration program7

  2. Click the icons one by one as shown in the following image.

    tm calibration program8
    tm calibration program9
    tm calibration program10

  3. Enter the IP address of the IPC in the Add Device window and click OK.

    tm calibration program11

4. Run Calibration Program

  1. In the Manual mode (the green Manual light is on), press the Run button on the Robot Stick to run the calibration program.

    tm calibration program12

  2. 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 at the bottom.

    start calilbration1

  3. 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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