Fanuc calibration program¶
This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the Fanuc installation and setup article.
Before following these Fanuc specific instructions in this article, make sure you first understand the process of executing a robot-camera calibration as explained on Calibration.
If you want to perform calibration once or infrequently, you don’t need to use this example program. You can teach the calibration poses manually using the pendant and the Collect current pose in the calibration wizard of the Pickit web interface.
Example program: PICKIT_MP_CALIBRATE¶
This example program can be found in Select.
1: UTOOL_NUM=9 ; 2: UFRAME_NUM=0 ; 3:L P 100mm/sec FINE ; 4: CALL PI_CALIBRATE ; 5:L P 100mm/sec FINE ; 6: CALL PI_CALIBRATE ; 7:L P 100mm/sec FINE ; 8: CALL PI_CALIBRATE ; 9:L P 100mm/sec FINE ; 10: CALL PI_CALIBRATE ; 11:L P 100mm/sec FINE ; 12: CALL PI_CALIBRATE ;
Below, each step of the program is explained.
Define the tool for calibration¶
In the calibration program the plate can be mounted to flange of the robot or clamped tightly with a gripper. The tool settings for the calibration program can be set to anything that suits best your setup. In the example program by default UTOOL9 is used.
Set user frame¶
Calibration is done relative to the base frame of the robot, hence UFRAME0 is selected.
Teach calibration points¶
The calibration program requires five points to be defined. For more information on how to define these points, see the article on Multi poses calibration.