ACE Sight Camera Calibration considered. 6. Specify whether the tool should rotate during calibration. l Interview Completed There are a number of fields that are not covered in the interview wizard. These are usually left at their defaults, but you can change their values if needed. Vision Parameters These parameters specify what vision tools are used in the calibration process. Calibration Target Size When using a user-defined vision tool, the size of the target, in mm, must be defined. It is used to calculate how far the robot can move the calibration target in the camera field of view. Default is 50 mm.
Use Vision Tool When true, the calibration algorithm will use the vision tool specified by the user to locate the calibration target. Vision Tool The vision tool used to locate the calibration target in the calibration process. Properties Align Z with Tool A flag indicating whether to align the Z axis to the nominal tool axis. If true, the Z axis of the camera offset will align with the tool axis. If false, the Z axis of the camera offset will be determined by the plane of the taught point cluster. Keyword Mapping Describes how the calibration is referenced when using V+ ACE Sight keywords for:
BeltCalibrationFrame, BeltCalibrationUpstreamLimit, BeltCalibrationDownstreamLimit, InverseKinematics, ImageOriginRobot, VisionOriginRobot, ImageOriginBelt, VisionOriginBelt. Camera Index The camera index is passed through the "toolID" parameter in the V+ ACE Sight keyword. Default is 0. ACEUser's Guide, 3.6.x, 18316-000 Rev A Page 649