FANUC: Hand-eye-calibration
The programm structure for the hand-eye-calibration is very simple. It basically consists of three different parts.
Init
This part ist to make the basic program settings and to establish the connection (Line 5). Also the command for starting the calibration is done here (Line 6). In this command you have the choice between "Robot Mounted" and "Stationary Mounted".
Move to 5 calibration poses
In the next section of the program the goal is, to move to 5 different poses and take a capture of the calibration plate from 5 different angles.
These points have to be according to your setup (Line 8).
The wait after moving the robot (Line 9) is to give the system time to stop movements and vibrations before taking a capture. This helps to increase the accuracy and makes the process repeatable.
After moving to the desired position a capture is taken to set the pose to the robot. It is necessary to define wich of the 5 steps the robot is at. (Line 10)
Finish
The end of the program consists of the "calib finish" comand. This ends the calibration and on the robobrain® results are calculated.
As a last step, the connection to the robobrain® is closed again. (Line 29)
TP Program Overview
1: !Init
2: UFRAME_NUM=0
3: UTOOL_NUM=1
4: PAYLOAD [1]
5: CALL RB_VISION(CONNECT)
6: CALL RB_VISION(CALIB Start, Robot Mounted)
7:
8:J P[1] 100% FINE
9: WAIT 1.00(sec)
10: CALL RB_VISION(CALIB SET POSE,Step 1)
11:
12:J P[2] 100% FINE
13: WAIT 1.00(sec)
14: CALL RB_VISION(CALIB SET POSE,Step 2)
15:
16: J P[3] 100% FINE
17: WAIT 1.00(sec)
18: CALL RB_VISION(CALIB SET POSE,Step 3)
19:
20:J P[4] 100% FINE
21: WAIT 1.00(sec)
22: CALL RB_VISION(CALIB SET POSE,Step 4)
23:
24:J P[5] 100% FINE
25: WAIT 1.00(sec)
26: CALL RB_VISION(CALIB SET POSE,Step 5)
27:
28: CALL RB_VISION(CALIB FINISH)
29: CALL RB_VISION(CLOSE)
[END]
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