UR e-Series (PolyScope X 10.4 or Above) Automatic Calibration

In the teach pendant interface, select Program  Before Start  +.

Select Commands and select MMInitSocket.

In the following interface, set ipAddress to the IP address of the IPC, Port to 50000 (You must set Port to the host port number set in Mech-Vision). After you set the parameters, the specified IP address and port number will be displayed in ipAddress and Port.

In the teach pendant interface, select Program  Main Program  +.

Select Commands and select MMCalib.

In mm_calib, set PosJps to Joint Angle (the pose type is joint positions) and set MoveType to movej (the motion type is joint motion).

In MMCalib, select Move to: Point(Linear).

Select Teach Point.

Manually move the robot to the calibration start point.

Select Save Waypoint.

Select the power button in the bottom-left corner and select Start.

Select Unlock.

Click the run button in the lower part.

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.

Perform Step 4 of Start calibration (which is Set motion path) and the subsequent operations based the following links.