Yaskawa calibration program¶
This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the Yaskawa installation and setup article.
Before following these Yaskawa 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 free-drive and the Collect current pose in the calibration wizard of the Pickit web interface.
Example program: TEST_CALIB¶
This example program can be found in JOB → SELECT JOB.
NOP MFRAME UF#(5) P008 BF MOVJ C00000 VJ=10.00 PL=0 PI_CALIB MOVJ C00001 VJ=10.00 PL=0 PI_CALIB MOVJ C00002 VJ=10.00 PL=0 PI_CALIB MOVJ C00003 VJ=10.00 PL=0 PI_CALIB MOVJ C00004 VJ=10.00 PL=0 PI_CALIB END
Below, each step of the program is explained.
Define the tool for picking¶
When using Pickit it is important that tool0 is set equal to the robot flange. This is done by setting all the values of tool0 to 0.
Set user frame¶
To help us set the user frame we are going to use a Position variable, by default P008. Set following values in VARIABLE → POSITION(ROBOT):
Make sure that X, Y, Z, Rx, Ry and Rz are all equal to 0.
Here it is assumed that P008 is not yet being used anywhere else in the robot program. You can also use any other variable, as long as it is free. In that case, make sure to fill this variable in, in the command MFRAME UF#(5) P008 BF.
After running the program, a new user frame (5) will be created that will be used both for calibration and picking.
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.
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). To run the program either do Play + Start, Interlock + FWD or Interlock + Test.