YASKAWA Automatic Calibration
This topic introduces the process of automatic calibration via Standard Interface communication between the YASKAWA robot and Mech-Mind Vision System.
Preparation before Calibration
Make preparation before calibration according to the camera mounting method. You may refer to the links below.
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If the camera is mounted in the Eye to Hand method, refer to Preparation before Calibration in Automatic Calibration in the Eye-to-Hand Setup.
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If the camera is mounted in the Eye in Hand method, refer to Preparation before Calibration in Automatic Calibration in the Eye-in-Hand Setup.
Pre-calibration Configuration
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Open Mech-Vision, and click the Camera Calibration (Standard) button in the toolbar. The Configuration before Calibration window will be prompted.
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In the Select how to calibrate window, select the New calibration radio button, and then click the Next button.
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In the Select calibration task window, select Hand-eye calibration for listed robot from the drop-down list box, click the Select robot model button to select the robot model used by the project, and then click the Next button.
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In the Select camera setup window, select the camera mounting method in this project, and then click the Next button.
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In the Calibration method and robot control window, select Automatic and Standard Interface, and then click the Next button.
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In the Communication mode window, keep the default value of Protocol. Click the Start interface service button in the Connect the robot area, and the message on this button will change to Waiting for the robot to connect....
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The port number for the Host IP address parameter is 50000 by default. If the port number determined in the communication solution is not 50000, please change it as required.
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After finishing the previous steps, do not close the Configuration before Calibration window.
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Select the Calibration Program
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Select . Move the cursor to MM_AUTO_CALIB in the JOB LIST and press SELECT on the teach pendant.
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The interface is as follows after the program file is selected.
Teach the Calibration Start Point
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Move the robot to the start point for calibration. Move the cursor to MOVJ P099 VJ=5, and press DIRECT OPEN on the teach pendant.
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Change the value of P099 to the current pose of the robot: Press SERVO ON READY on the teach pendant. Press MODIFY and then ENTER while holding enable switch on the back. Make sure the value for TOOL is 00.
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Press DIRECT OPEN on the teach pendant again to return to JOB CONTENT.
Run the Calibration Program
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Move the cursor back to line 0000, turn the mode switch to PLAY mode, press SERVO ON READY on the teach pendant.
To move the robot at a low speed, select on the teach pendant screen, and change SPEED LIMIT to VALID.
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Press the green START button on the teach pendant. The program starts to run when the button lights up.
In case of emergency, press PAUSE or STOP. -
When, in the Configuration before 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 Calibrate. The Calibration (Eye to hand) window will be prompted.
If the robot is connected successfully, the Console tab of Mech-Vision Log panel will display a log.
Calibration Procedure
Conduct calibration according to the camera mounting method. You may refer to the links below.
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If the camera is mounted in the Eye to Hand method, refer to Calibration Procedure in Automatic Calibration in the Eye-to-Hand Setup.
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If the camera is mounted in the Eye in Hand method, refer to Calibration Procedure in Automatic Calibration in the Eye-in-Hand Setup.
Change the Extrinsic Parameter File
If the camera’s extrinsic parameter file has been used by a Mech-Vision project, you need to change the extrinsic parameter file used by the Mech-Vision project to a new one after you finish the hand-eye calibration.
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Select the Capture Images from Camera Step.
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In the Step Parameters panel, click
of the Camera Calibration Parameters parameter, and select the newly calibrated extrinsic parameter file.
Calibration-Related Status Codes
During automatic calibration via Standard Interface communication, the vision system returns data together with the status code to the robot. Status codes, which are categorized into error codes and normal status codes, indicate the command execution status. Calibration related status codes are listed in the tables below.