Mitsubishi Electric MELFA CR750 Series User Manual page 307

Double-click the target project [Online] -> [Maintenance] -> [2D Vision Calibration] on the project tree to
start 2D vision calibration.
(2) Select calibration number
Select a tab of arbitrary number.
The maximum number of calibration settings tab switchingly usable is 8
(3) Teaching points
Click a row which you want to teach a point, to move the cursor.
Position the tool center point at the calibration marker.
Click [Get the robot position] button to get the current robot position.
Then Robot.X and Robot.Y in the selected row are filled in and [Enable] checkbox is checked
automatically.
You cannot edit teaching points before clicking [Get the robot position] button.
Measure the position of the calibration marker by vision sensor.
Enter X, Y pixel coordinate position in Camera.X and Camera.Y respectively.
For the method for getting pixel coordinate, refer to your vision sensor's manual.
If the combination of vision sensor's coordinate and robot's coordinate is wrong or teaching points are
closely spaced, an incorrect calibration data may be calculated.
Vision calibration needs a minimum of 4 teaching points. For accurate calibration, 9 or more points
arranged separately are recommended.
13-307
Figure 13-554 Starting 2D vision calibration
Figure 13-565 Calibration number tab
Automatic input
Figure 13-57 Input teaching points
Figure 13-587 Example of 9 markers in camera vision (Image)
Manual input
13-307