YASKAWA Calibration Program

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

1. Select JOB ‣ SELECT JOB.

   

2. Select MM_AUTO_CALIB in the JOB LIST, and then press the SELECT key.

   

Teach the Calibration Start Point

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

2. Move the cursor to the instruction side of line 2, and press the DIRECT OPEN key.

   

3. Change the value of P099 to the current pose of the robot: press SERVO ON READY key, and then press MODIFY and then ENTER while holding down the enable switch on the back. Make sure the value for TOOL is 00.

   

4. Press DIRECT OPEN again to return to the job.

Run the Calibration Program

1. Move the cursor back to line 0000, and turn the mode switch to PLAY mode, and press the SERVO ON READY key.

2. To move the robot at low speed, go to UTILITY ‣ SETUP SPECIAL RUN, and change SPEED LIMIT to VALID.

   

3. Press the START button. The program starts to run when the button lights up.

4. Proceed to the next section when the following message is displayed 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 calibration in the program directory and run this program again, and restart the calibration process in Mech-Vision.