Specifications

Chapter 9 Operating Vision Manager
9-69
9.5.3 Camera Calibration Procedure
Obtain camera calibration data (coordinate conversion coefficients) according
to the following procedures. This operation will complete preparation for
running visual robot position correction.
Q Input vision coordinates (Vx1, Vy1) of Point S1 and
the robot coordinates (Rx1, Ry1, Rz1) for Point 1 of
the camera calibration tool.
R Input vision coordinates (Vx2, Vy2) of Point S2 and
the robot coordinates (Rx2, Ry2, Rz2) for Point 2 of
the camera calibration tool.
S Input vision coordinates (Vx3, Vy3) of Point 3 and
the robot coordinates (Rx3, Ry3, Rz3) for Point 3 of
the camera calibration tool.
T Click on Calibration of the camera calibration tool
and calculate calibration data (coordinate
conversion coefficients). Refer to Chapter 9 “9.4.5
Calibration” in this manual.
U Transmit the calibration data (coordinate conversion
coefficients) to the Robot Controller. Refer to
Chapter 9 “9.2.5 Transfer” in this manual.
Vx1
Rx1
Vy1
V
x
Ry1
Vy
Ry
R
x
S3
S2
S1
Vx3
Rx3
Vy3
V
x
Ry3
Vy
Ry
R
x
S3
S2
S1
Vx2
Rx2
Vy2
V
x
Ry2
Vy
Ry
R
x
S3
S2
S1
Rx, Ry: Robot coordinate
Vx, Vy: Visual coordinate