RF627Weld [Revision 1.1.1] 03.08.2020
Laser Seam Tracking System for Welding Automation. RF627Weld Series
81
Parameter
Maximum valid
value
Description
from the reference system of the scanner to the reference system of
the plate (test of independent calibrations of the scanner with respect
to a plate).
Robot distance
1.0 mm
The standard deviation of all measured points of the plate from a
reference plate at each position with indirect translation of coordinates
from the reference system of the scanner to the reference system of
the plate through the intermediate reference system of the arm and the
reference system of the robot (scanner calibration test with respect to
the arm).
Zero point
deviation
1.0 mm
The standard deviation of a zero point in the reference system of the
scanner (X=Z=0) during its translation to the reference system of the
scanner through the reference system of the arm, robot and plate
(scanner calibration test with respect to the arm).
Rotation angle
0.02 rad
Root-mean-square rotation angle of the reference system of the
scanner in its conversion through the reference system of the arm,
robot and plate (scanner calibration test with respect to the arm).
Buttons assignment:
Button
Assignment
CAPTURE
Capture the current pair "Robot coord profile". The button is active only when
Robot data
shows values different from NaN, and when the profile is suitable for
calibration. When you click the button, the pair is added to a list below:
To remove a pair from a list, click
.
CALIBRATE
Calibrate the scanner. The button is active only when there are at least 3 pairs ("Robot
coord profile") in the list.
To go back to the
PROTOCOLS
panel, click
.
15.6.9.2. Calibration procedure
1. Fix the scanner. Make sure that the scanner is immobile relative to the robot arm.
2. Determine the direction of the X axis of the scanner relative to its housing.
3. Place the calibration plate so that the arrow on the plate and the X axis of the
scanner are approximately in the same direction (the angle must be less than 90°).
The plate must be immobile relative to the robot during the calibration.
4. Place the scanner so that a laser line is in the center of the plate, and the Z axis of
the scanner is approximately perpendicular to the plate surface as shown in the picture
below.
