ReferenceType Property

Applies To
Vision Calibration

Description
Sets / returns the reference type for a calibration.

Usage

VGet  Calibration.ReferenceType, var
VSet  Calibration.ReferenceType, value

Calibration

Name of a calibration or string variable containing a calibration name.

var

Integer variable that will contain the value of the property.

value

Integer value or expression for the new value of the property.

Values

• 1 - TaughtPoints
  • Vision Constant: VISION_REFTYPE_TAUGHTPOINTS
  • Taught points
• 2 - UpwardCamera
  • Vision Constant: VISION_REFTYPE_UPWARDCAMERA
  • Upward camera
• 3 - EndEffector
  • Vision Constant: VISION_REFTYPE_ENDEFFECTOR
  • EndEffector

Default:

• 1 - TaughtPoints: Fixed downward, MobileJ2, J4, J5, J6
• 3 - EndEffector: Fixed upward

Remarks
The calibration reference is a point defined in the robot coordinate system. When taught points are specified, one or two points are taught using a tool on the robot end effector during the teaching process for calibration points. When upward camera is specified, an upward camera that has already been calibrated is used to find the reference target. This method is the most accurate. When the end effector is specified, the target on the tool which is attached to the end effector of the robot is the reference.

The ReferenceType which can be specified differs depending on the CameraOrientation.

ReferenceType	CameraOrientation
TaughtPoints	Fixed downward, MobileJ2, J4, J5, J6
UpwardCamera	MobileJ2, J4, J5, J6
EndEffector	Fixed upward, Fixed downward

See Also
CameraOrientation Property, PointsTaught Result, TwoRefPoints Property