Omron NJ501-4300, Manual

Page: 327 / 336

A - 19
Appendices
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
A-1
S
y
smac S
tu
d
io
Rob
o
t Add
itio
n
al Opt
ion
A
A-1-
5 Calcu
lation of C
alibration Par
ameters
To perform a Vision & Robot integrated simulation, you need to set the parameters to transform the
coordinate system (calibration parameters) in the user program.
Once you complete setting all the 3D machine models with the 3D Equipment Model Creation Wizard,
you can output the calibration parameters to a file.
For details on how to use and operate these parameters, refer to the Vision & Robot Integrated Simula-
tion Startup Guide (Cat. No. Y128).
Additional Information
If the selected 3D equipment model includes the conveyor for picking, you can save the calibra-
tion parameters in a file by clicking the
Output Calibration Parameters Button in the 3D
Motion Monitor View.
Robot vacuum tool: Home
position in Tool Coordinate
System (Tx) LREAL Refer to 2-3-8 Robot Tool on page 2-32 for details.
Robot vacuum tool: Home
position in Tool Coordinate
System (Ty) LREAL
A-1-5 Calculation of Calibration Parameters
Item Data type Description