This section describes an example of designing a robot program that automatically executes AOS camera calibration by control instructions from the robot, using a sample program for AOS camera calibration (fhsample_calaos). To execute AOS camera calibration with the method described in this section, it is required that you set up the vision sensor according to the method described in 3.6. Automatic Calibration (Vision Master) and that you place the camera calibration target in the position where you placed it during the setup. The robot program consists of the following steps.
If you need detailed information on each function, refer to the Vision System FH series Robot Connection Guide corresponding to each robot manufacturer. Precautions for Correct Use • The implementation procedure of the robot program described in this section is for reference only. Design, implement, and test the robot program for actual operation according to your environment. • In the main window of the vision system, or in the Layout setup, make sure that Output is ON for the current layout. If it is OFF, the vision system does not output measurement values. 42 3.7.
Automatic Calibration (Robot Master) 1 Connecting the Vision Sensor to the Robot Controller ▼ 2 Switching Scenes on the Vision Sensor ▼ 3 Acquiring the Camera Status from the 3D Vision Sensor ▼ 4 4 Acquiring the Calibration Date/Time Comparison Result from the 3D Vision Sensor ▼ 5 Changing the Calibration Mode of AOS Camera Calibration ▼ 6 Acquiring the Near Imaging Position ▼ 7 Moving the Robot to the Near Imaging Position ▼ 8 Executing a Measurement (Near Imaging Position) ▼ 9 Acquiring the Far Imaging Position ▼ 10 Moving the Robot to the Far Imaging Position ▼ 11 Executing a Measurement (Far Imaging Position) ▼ 12 Ending the Program (Normal End) ▼ 13 Ending the Program (Error End)