Camera Installation

Camera installation method can be selected for each calibration data. The data set required for calibration differs depending on mounting types. Note that the wrong setting may result in improper calibration.

Epson RC+ 8.0 supports the following camera installations:

Camera Installation	Description
Standalone	Camera can be installed anywhere. Camera does not have a relation with the robot. With this method, position information in the Robot coordinate system cannot be acquired. However, it can be converted from the image coordinate system to the camera coordinate system. That is, simple length measurement can be performed.
Fixed downward	Camera and target objects do not move and is looking down into robot work envelope. The camera acquires position information in the Robot coordinate system. The camera must be installed vertically to the XY plane of the specified coordinate system. (Angle gap may result in poor accuracy) Specified coordinate systems are Robot coordinate system and Local coordinate system. Uses nine reference points.
Fixed upward	Camera does not move and is looking up into a portion of the robot work envelope. For example, this installation method is used to check the position of the object which is carried by the robot. It does not require a reference point. The calibration target is on the end effector or the object held by the robot.
Mobile camera on the Joint #2	Camera is mounted on Arm #2 on SCARA robot or Joint #2 on Cartesian robot. Uses one reference point.
Mobile camera on the Joint #4	Camera is mounted on Arm #4 on SCARA robot or Joint #4 on Cartesian robot. Uses one reference point.
Mobile camera on the Joint #5	Camera is mounted on Joint 5 on 6-Axis robot. Uses one reference point.
Mobile camera on the Joint #6	Camera is mounted on Joint 6 on 6-Axis robot. Uses one reference point.