KUKA Calibration Program

This topic introduces the process of automatic hand-eye calibration when a KUKA 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

On the teach pendant, navigate to KRC:/R1/mechmind, select mm_module.src, and then press on Select.

Teach the Calibration Start Point

1. Move the robot to the start point for the calibration.

2. On the teach pendant, move the cursor to Line 11, and press on Block selection and then Touch-up.

   

3. Press on Yes in the pop-up window to finish teaching the initial point for calibration.

   

Run the Calibration Program

1. Press on , select Reset program, and then press to run the calibration program.

   

2. Proceed to the next section when the following are displayed:

   • On the teach pendant: a message saying Calibration Start!

   • In the Console tab of Mech-Vision Log panel: 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_module.src on the teach pendant again, and restart the calibration process in Mech-Vision.