Denso WINCAPS III, Руководство пользователя

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Chapter 9 Vision Manager
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9.2.3.3 Specifying robot coordinates
There are the following two ways to enter robot coordinates.
• Direct entry: Directly entering numerical values
• Copying variable: Copying coordinates from a robot P variable
The following are the procedures.
Note
Make sure that the Vision monitor coordinates and the robot ones refer to the same point.
(1) Direct entry
Double-click the x-, y-, or z-coordinate cell in the Robot area of the calibration data table and enter a numerical
value.
(2) Copying variable
This method copies robot coordinates from the specified P variable.
Operating procedure
1.
Specify the point to edit.
2.
Move to the P variable field and enter the number for the robot coordinates.
3.
Press the Read button to read in the coordinates.
9.2.3.4 Calibrating
A calibration operation calculates conversion coefficients by comparing monitor coordinates with their robot coun-
terparts for three image features. Although WINCAPS III must send calibration data to the robot controller, the
robot controller stores only the conversion coefficients.
The conversion library converts robot coordinates using these stored coefficients. User programs can also use it to
convert Vision monitor coordinates into robot ones.
Operating procedure
1.
Choose the dataset number for the calibration operation.
2.
Press the Calibrate button to display a Results window.
Note
• If an error message indicates problems with coordinate data, double-check the data for the three
features.
• Adjust the coordinates until pressing the button successfully yields valid coefficients.