FANUC Calibration Program

This topic introduces the process of automatic hand-eye calibration when a FANUC robot communicates with Mech-Mind Vision System through Standard Interface.

The process consists of the following steps:

Before proceeding, please make sure that:

• You have set up Standard Interface communication with the robot.

• You are familiar with the contents in Hand-Eye Calibration Guide.

Select the Calibration Program

Press the SELECT on the teach pendant, and then select MM_AUTO_CALIB and press ENTER to open the program.

Teach the Calibration Start Point

1. After opening the program, press the STEP key on the teach pendant to switch to Step mode. Then the Step icon on the screen will turn yellow.

   

2. Move the cursor to the 5th line. Press and hold either of the deadman switches on the back of the teach pendant, and then press the SHIFT and FWD keys at the same time to run the command on the 5th line, as shown below.

   

   

3. Select [100], and go to Position ‣ REPRE ‣ Cartesian.

   

   

4. Press on Continue in the pop-up window and then press on DONE.

   

   

5. Select the number at the beginning of the 5th line, as shown below. Then press the SHIFT key and TOUCHUP on the screen together. A message “Position has been recorded to PR[100]” will appear.

   

   

6. Press STEP key on the teach pendant to exit the Step mode, then the Step icon on the screen will turn grey.

   

Run the Calibration Program

1. Switch to AUTO mode: turn the switch on the teach pendant to OFF and then turn the switch key on the controller to AUTO, as shown below.

   

   

2. Press the green button on the controller to auto-run the calibration program. If the following message appears in the Console tab of Mech-Vision Log panel, you can start calibration in Mech-Vision.

   Entering the calibration process, please start the calibration in Mech-Vision.

Complete Calibration in Mech-Vision

1. In Mech-Vision, click Camera Calibration (Standard) on the toolbar, or select Camera ‣ Camera Calibration ‣ Standard from the menu bar.

2. Follow the instructions in Mech-Vision to complete the configuration.

   • If the camera is mounted in the eye-to-hand mode, please refer to Complete Automatic Calibration in the Eye to Hand Scenario.

   • If the camera is mounted in the eye-in-hand mode, please refer to Complete Automatic Calibration in the Eye in Hand Scenario.

Note

If the robot does not reach the next calibration point within 60 seconds, Mech-Vision will report a timeout error and stop the calibration process. In such cases, please select and run MM_AUTO_CALIB on the teach pendant again, and restart the calibration process in Mech-Vision.