> For the complete documentation index, see [llms.txt](https://support.robominds.de/manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://support.robominds.de/manual/robots/robot-interfaces/universal-robots/ur-robobrain-r-urcap/urcap-calibration-node.md).

# URCap: Calibration node

<mark style="color:blue;">**Preparing the Robot Program**</mark>

To be able to carry out a calibration with the robot, a new robot program is started and the program node *<mark style="color:blue;">**robobrain: Calibration**</mark>* is used from the URCaps area. This is a prepared robot program for the calibration process. This must be completed to finish this step.

Right at the beginning, the mount type of the installed camera is chosen. In our case *<mark style="color:blue;">**dynamic**</mark>* is selected.&#x20;

<figure><img src="https://660378187-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbfPmWtourffXBtJHjy1q%2Fuploads%2F1IyY1wBGdQOEqgQFSFzb%2Fimage.png?alt=media&amp;token=03c54f38-983e-4c3a-b5b4-53e95997c115" alt=""><figcaption><p>Calibration – Pre-Installed Program Node</p></figcaption></figure>

<mark style="color:blue;">**Teaching the waypoints**</mark>

Five different waypoints have to be defined in the robot program. These waypoints should allow the vision system to take a picture of the calibration plate from different angles. It must be ensured that the calibration plate is positioned in front of the camera and is always completely visible in the image.

<figure><img src="https://660378187-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbfPmWtourffXBtJHjy1q%2Fuploads%2F35wCipnJi3n73PmCIQ8t%2Fimage.png?alt=media&amp;token=e352126d-a307-4ddc-a1f7-f79b85b1bf53" alt=""><figcaption><p>Defining the Viewing Angle in the Robot Program</p></figcaption></figure>

Exemplary camera positions, which are all arranged around the calibration plate.

<figure><img src="https://660378187-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbfPmWtourffXBtJHjy1q%2Fuploads%2Fs3vThFZ9Y4DxNu5sryAG%2Fimage.png?alt=media&amp;token=3015ac03-84db-41ad-8033-59ece7586b9c" alt=""><figcaption><p> Example Camera Positions</p></figcaption></figure>

After all waypoints have been defined the robot program can be executed. Please reduce the speed of the robot to minimize the risk of introducing vibrations and thus moving the calibration plate when running the calibration program.

{% hint style="info" %}
*In order to achieve the highest possible accuracy during calibration, care should be taken during the process to ensure that the calibration plate is as close as possible to the camera at each step.*
{% endhint %}