KUKA calibration program

This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the KUKA installation and setup article.

Before following these KUKA specific instructions in this article, make sure you first understand the process of executing a robot camera calibration as explained on Calibration.

Note

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: PickitMultiPoseCal

This example program can be found in R1 > Program > Pickit.

DEF PickitMultiPoseCal( )
    FOLD INI;%{PE}

    PTP home

    PTP P1
    WAIT SEC 0.5
    Pickit_do_calibration()

    PTP P2
    WAIT SEC 0.5
    Pickit_do_calibration()

    PTP P3
    WAIT SEC 0.5
    Pickit_do_calibration()

    PTP P4
    WAIT SEC 0.5
    Pickit_do_calibration()

    PTP P5
    WAIT SEC 0.5
    Pickit_do_calibration()

    PTP home

END

Below, each step of the program is explained.

Teach calibration points

The calibration program requires five points to be defined (P1 - P5). For more information on how to define these points, see the article on Multi poses calibration.

Execute the calibration program

Before running the calibration program, make sure that the Pickit web interface is in the Calibration page, which provides feedback on calibration plate visibility and progress of the calibration process (more).