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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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