Mitsubishi Electric CR800 Series Instruction Manual page 75

(12) Press the [F1] (FWD) key and execute step feed. "(5)Move the calibration sheet..."is displayed.
Move the calibration seat by starting the conveyer within the robot movement range.
(13) Press the [F1] (FWD) key and execute step feed. "(6)Move the robot hand to the..."is displayed.
Move the robot to the position right above the first mark on the conveyer.
(14) Press the [F1] (FWD) key and execute step feed. "(7)Set robot XY coordinates in world coordinates···" is
displayed.
Click [Get position] button in "Edit Tool" column of In-Sight Explorer.
Input the current position X and Y of the robot displayed in the JOG screen of T/B to the "World X" and
"World Y" fields in the Edit Tool area of In-Sight Explorer.
* The same values as that in the
pixel row and column are set in
World X and Y when the setting
screen is displayed.
9 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" program)
Move the robot to first point
<CURRENT>JNT 100% M1 T00 B*
X: 393.138 A: 0.000
Y: 112.879 B: 0.000
Z: 339.230 C: 90.000
: :
FL:00000004 FL2:00000000
TOOL 3-XYZ CYLNDR
XYZ JOG
Input the robot
current positions
X and Y.
Operation procedure 9-63