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Description

Stereoscopic calibration location error determination This tool calibrates based on two known/observed 3d postions. When the tool is run it calculates the errors from the current position to the desried target.

Training the tool

The main setup is the train page:
Calibration Control Buttons:
Save/Load:
Saves/Loads the current calibration to file. This is useful so that the calibration can be shared. The calibration data is also saved inside the porgram.

Train:
To train the calibration we need to observe the displacement in each axis. The displacement can be given in any units (steps mm inches etc...). Hence, define the moves that the robot motion system will be making by define the dx,dy and dz moves. The calibration procedure is as follows:
- Observe the locations at the beginning of each move. You can use the RunSequences menu option to run all the programs.
- Set this point as the origon point and hit the train button
- Move the axis and observe the new positions.
- Set this point as the axis moved point and hit the train button.

Calibration Parameters
DX,DY,DZ
The movements made by the motion robot system.

Step by Step Calibration
- Enter maintanence mode. Hit the padlock button. There may be a password
- Ensure the cameras see the features in the field of view. Set the camera live if necessary at the required weld position

FOR EACH AXIS:
- Right click on the calibrate step of program.
- Select the train tab
- Move the axis to the start of of the move
- Run the sequences that find the desired feature.
- From the calibration menu select origin. Hit the train button. The large ble cross hairs appear on the target.
- Move the x axis the desired amount (2mm say). Note that the moment done is set in the DX, DY,DZ motions
- Run the sequences that find the desired feature.
- From the calibration menu select the axis move (X or Y or Z Axis) and hit the train button

Zero the motion and and repeat for the the other axis.

ON COMPLETION
- define the origin, and train this position.
- save the calibration from the train Tab
- save the workspace from the menu File - Save Calibation  

Inputs

CIFViewer

Geometry

Geometry

Parameters

OffsetX

OffsetY

OffsetZ

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