VDefLocal Statement

Applies To
Vision Calibration

Description
VDefLocal detects a calibration plate placed on a work plane by a mobile camera, and defines local coordinates parallel to the work plane.

Usage

VDefLocal  LocalNumber, LocalType, CalibPlateType, Sequence,[TargetTolerance],[CameraToolNo],[RefPointNo],[RobotSpeed],[RobotAccel]

LocalNumber

Integer variable representing a tool number to set local coordinates (1 to 15)

LocalType

Integer variable representing a local type

For the vision constant value, refer to the following.

Vision Constants

VISION_DEFLOCAL_J6CAM: Specifies local coordinates parallel to a calibration plate by using the mobile J6 camera.
VISION_DEFLOCAL_J5CAM: Specifies local coordinates parallel to a calibration plate by using the mobile J5 camera.
VISION_DEFLOCAL_UPCAM: Specifies local coordinates parallel to a calibration plate by using the fixed upward camera.
VISION_DEFLOCAL_DOWNCAM: Specifies local coordinates parallel to a calibration plate by using the fixed downward camera.

CalibPlateType

Integer variable that will contains the type of calibration plate.

For the vision constant value, refer to the following.

Vision Constants

VISION_CALIBPLATE_L: Large calibration plate
VISION_CALIBPLATE_M: Medium calibration plate
VISION_CALIBPLATE_S: Small calibration plate
VISION_CALIBPLATE_XS: Large calibration plate

Sequence

Name of a sequence or string expression containing a sequence name
When using the mobile camera, this is a vision sequence to detect a reference marker on the calibration plate.
When using the fixed camera, this is a vision sequence to detect a feature point at tool end, such as user’s workpiece.

TargetTolerance

Real variable displaying the pixel distance in which vision detection results are considered a match with the target position

Value range: 0, 0.1 to 3.0 pixels
Default: 1
If omitted or “0” is specified, it is set to “1”.

CameraToolNo

VISION_DEFLOCAL_J6CAM: If auto calibration has been executed, specify a tool number of mobile camera.
To perform auto calibration, specify -1.

RefPoint

Specifies the point which a local plane parallel to a work plane passes.
This point is used to specify the local plane height.

RobotSpeed

Integer variable displaying the speed of the robot (%)

Value range: 0 to 100
Default: 5
When set to “0”, or when left unspecified, this value will be set to “5”.

RobotAccel

Integer variable displaying the acceleration of the robot (%)

Value range: 0 to 99
Default: 5
When set to “0”, or when left unspecified, this value will be set to “5”.

Remarks
VDefLocal detects a calibration plate placed on a work plane by a mobile camera, and defines local coordinates parallel to the work plane.

KEY POINTS

Robot operates automatically based on the detection results of the target. Be careful of interference between the robot and peripherals. Also, use with avoiding singularity nearby posture that each axis extends to prevent an error during the local coordinate setting.

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