Overview

By using the Vision Calibration, you can register the positional relationship between the cameras and the robot system to the Robot Controller, and convert the image coordinate position of the object recognized by the image processing into the robot coordinate position.
Vision calibration is performed by the following steps:

1. Camera installation
2. Create vision sequences for calibration
3. Create a Calibration using a calibration wizard.
4. Point teaching
5. Execute Calibration

In order to perform calibration with high accuracy, correction of lens distortion and camera tilt (difference between the work plane and the camera’s optical axis) can be performed.
Correction of lens distortion and camera tilt is performed by the following steps:

1. Camera installation
2. Create vision sequence for lens distortion and camera tilt correction
3. Execute correction of lens distortion and camera tilt
4. Create vision sequences for calibration
5. Create a Calibration by calibration wizard
6. Point teaching
7. Execute Calibration

Additional calibrations using a camera

• Local plane can be detected for the calibration plate placed on the work plane. (Only mobile camera mounted on Arm #6 (J6) on the vertical 6-axis robot.)
• The tool coordinates of the camera mount position for the mobile camera mounted on Joint #4 (J4) on the horizontal articulated (SCARA) robot or Arm #6 (J6) on the vertical 6-axis robot can be automatically detected. Also, the camera mount position of the mobile camera mounted on the Arm #2 (J2) on the horizontal articulated (SCARA) robot can be automatically detected as parameters for additional arm setting.
• The tool coordinates of a tool mounted on the end effector of the robot can be automatically detected using a fixed upward camera.

The wizards for these calibrations can be run by clicking on [Locals], [Tools], or [Arms] tabs on the [Robot Manager]. You can also execute these wizards from the camera calibration wizard. In all cases, you need to create a required vision sequence in advance.

Configuration for local detection function using a camera

Hardware Configuration	Local detection function using a camera
Compact Vision CV2-SA, CV2-HA (Firmware ver. 3.2.0.3 or later)	OK
PC VisionPV1	OK

Other vision calibrations other than the above are available for any hardware configuration (tool detection using by camera and arm detection are included).
An optional calibration plate is necessary when using the local detection function using a camera.
Refer to the specification table below to select the proper calibration plate according to the largeness of the work surface.

Calibration Plates

	Large (CP01-L)	Medium (CP01-M)	Small (CP01-S)	Extra Small (CP01-XS)
External dimension (Width×Depth (Thickness)) [mm]	152×152×2	78×78×2	40×40×2	28×28×2
Usable dimension (Width×Depth) [mm]	128×128	64×64	32×32	21×21
Dot pitch (Width / Depth) [mm]	4	2	1	0.5
Number of dots	1089 (Width 33×Depth 33)			1849 (43×43)
Material	White glass