Calibration Of Vision Coordinate And Robot Coordinate Systems ("B1" Program); Operation Procedure - Mitsubishi Electric CR800 Series Instruction Manual

9. Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" program)

* The tasks described in this chapter are required only for constructing a vision tracking system for
high speed and accuracy tracking.
These operations are not necessary when constructing a conveyer tracking system.
* Refer to "12 Teaching Operation ("A1" Program)" for circular arc tracking.
This chapter uses the screens of the optional R32TB (T/B) to explain the tasks carried out by using "B1"
program.
Calibration of a vision sensor refers to converting the position of a workpiece recognized by the vision sensor to
the corresponding position in the robot coordinate system.
This chapter explains the operation procedure when using the "N-point calibration tool" of the COGNEX's
In-Sight Explorer.
"B1" program performs specified tasks and allows acquiring the workpiece coordinates recognized by the vision
sensor in the robot coordinate system (position coordinates of robot movement).
The procedures of operations specified by "B1" program and items to be confirmed after the operations are
explained below.
This chapter explains on the assumption that "Mitsubishi robot tool" is used.
Please refer to "Detailed Explanations of Functions and Operations" for the steps involved in each operation.
This operation needs a Calibration sheet (Appendix 18.5 Calibration sheet). Print the Calibration sheet in
advance.

Operation procedure

9.1.
Operate the following procedures using "B1" program.
* The window of In-Sight Explorer of this section is Ver.5.4.0.
(1) Start In-Sight Explorer and set the IP Address of vision sensor.
From the menu of In-Sight Explorer, select [System]-[Add Sensor/Device To Network...].
In the "Add Sensor/Device To Network" screen, the sensor or device which can add to the network is
displayed. Select it from the list and input the IP Address. Then, click the [Apply] button.
9 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" program)
Operation procedure 9-57