Mitsubishi Electric MELFA CR750 Series User Manual page 308

(4) Calculate vision calibration data
When 4 or more data on the list of [Teaching points] are enable, [Calculate after selecting 4 points or more]
button becomes enable. Click the button to calculate vision calibration data and display the data in [Result
homography matrix].
(5) Write to robot
Click [write to robot] button to write the calculated vision sensor calibration data [VSCALBn] ("n" is
calibration number) to robot controller.
As shown in the figure below, the value of the calculation result of the calibration are displayed at the top,
the now setting value in the controller are displayed at the bottom for confirmation.
(6) Saving a file
Click [Save] button or [Save as ...] button to save teaching points and the calculated result as a camera
calibration coordinate file. An extension of camera calibration coordinate file is "ccc".
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Figure 13-598 Calculating vision calibration data
Figure 13-609 Writing to robot
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