Robot-generated grid calibration is used for calibrating the camera for fields of view that are too wide for a standard calibration grid. A target attached to the robot hand is used to calibrate the camera by generating a dot pattern that moves in a virtual grid in the view of the camera.
Note: Robot-generated grid calibration is only available for six-axis robots.
Note: Robot-generated grid calibration is not available when the Vision Expansion Board is used.
Table 1.
Menu Item | Description |
Calibration Data | Displays the name of the selected Calibration Data. When the cursor is on this line, press F4 [CHOICE] to display a list of available Calibration Data.Press F3 [DETAIL] to see details of the selected Camera Calibration. |
Target Position | Displays whether the target position has been set.When the cursor is on this line, press F3 [DETAIL] to display the location of the target.Press SHIFT-F5 [RUN] to determine the target position. |
Program Generation | Creates a TP program to perform the robot-generated grid calibration. Press SHIFT-F5 [RUN] to generate the TP program. |
F2 [DISP_IMG] | Press this key to display the runtime image. |
This screen runs the Automatic Vision Grid Frame Set operation.
Table 2.
Menu Item | Description |
Set UFrame or UTool? | Selects whether to set a User Frame or a User Tool.With the cursor on this line, press F4 [UTOOL] to select User Tool or F5 [UFRAME] to select User Frame. |
User Frame (Tool) Number to set | Selects the number of the User Frame (or User Tool). |
Camera User Tool Number | Sets the User Tool number associated with the camera. |
Camera Name | Selects the name of the Camera Tool to use.With the cursor on this line, press F4 [CHOICE] to display and select from the available Camera Tools. |
Exposure Time | Specifies the exposure time to use for image capture, in milliseconds. |
Grid Spacing | Specifies the grid spacing of the calibration grid being used, in millimeters. |
Start Position | Sets the robot position to use when starting the calibration.With the cursor on this line, jog the robot and press SHIFT-F4 [RECORD] to record a new start position. |
Yaw Angle Limit | Sets the limit for yaw (W) angle for use during calibration. |
Pitch Angle Limit | Sets the limit for pitch (P) angle for use during calibration. |
Roll Angle Limit | Sets the limit for roll (R) angle for use during calibration. |
F2 [DISP IMG] | Press this key to display the runtime image. |
F3 [LIVE] | Press this key to display the live camera feed. |
The Vision Log Menu Screen lets you perform maintenance functions on the iRVision log files.
Table 3.
Menu Item | Description |
F2 [IMP/EXP] | Import an XML-formatted iRVision log file. |
F3 [EXPORT] | Exports an iRVision log file to XML format.Move the cursor to the log file to be exported, then press F3 [EXPORT]. |
F4 [DELETE] | Deletes a selected iRVision log file. You are required to confirm the delete before the file is deleted. |
F5 [REFRESH] | Refreshes the list of iRVision log files. |
NEXT — F2 [ALL EXP] | Exports all listed iRVision log files. |
NEXT — F3 [ALL DEL] | Deletes all listed iRVision log files. You are required to confirm the delete operation before the files are deleted. |
NEXT — F4 [DEVICE] | Sets the device and path where exported iRVision log files are written. |