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R-30+B/R-30+B Mate CONTROLLER

+RCalibration

OPERATOR'S MANUAL

B-83724EN/02
 • Original Instructions

Thank you very much for purchasing FANUC Robot.

Before using the Robot, be sure to read the "FANUC Robot SAFETY HANDBOOK (B-80687EN)"
and understand the content.

• No part of this manual may be reproduced in any form.

• The appearance and specifications of this product are subject to change without notice.

The products in this manual are controlled based on Japan's “Foreign Exchange and
Foreign Trade Law". The export from Japan may be subject to an export license by the
government of Japan. Further, re-export to another country may be subject to the license
of the government of the country from where the product is re-exported. Furthermore, the
product may also be controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual, we endeavor to include all pertinent matters. There are, however, a very
large number of operations that must not or cannot be performed, and if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as being possible are "not possible".
B-83724EN/02 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
This chapter describes the precautions which must be observed to ensure the safe use of the robot.
Before attempting to use the robot, be sure to read this chapter thoroughly.

Before using the functions related to robot operation, read the relevant operator's manual to become
familiar with those functions.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral devices installed in a work cell.
In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.

1 DEFINITON OF USER
The user can be classified as follows.

Operator:
• Turns the robot controller power ON/OFF
• Starts the robot program with operator’s panel

Programmer:
• Operates the robot
• Teaches the robot inside the safety fence

Maintenance engineer:
• Operates the robot
• Teaches the robot inside the safety fence
• Maintenance (repair, adjustment, replacement)

- “An operator” cannot work inside the safety fence

- “Programmer”, “Teaching operator”, and “Maintenance engineer” can work inside the safety fence.
The working activities inside the safety fence include lifting, setting, teaching, adjusting,
maintenance, etc.
- To work inside the safety fence, the person must be trained on proper robot operation.

During the operation, programming, and maintenance of your robotic system, programmer, teaching
operator and maintenance engineer must operate with circumspection by using following safety
precautions.

- Adequate clothes for the operation

- Safety shoes
- A helmet

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2 DEFINITION OF SAFETY NOTATIONS

To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution on
safety with "WARNING" or "CAUTION" according to its severity. Supplementary information is indicated
by "NOTE". Please read each "WARNING", "CAUTION" and "NOTE" before attempting to use the
robots.

Symbol Definitions
Used if hazard resulting in the death or serious injury of the user will be expected to
WARNING occur if he or she fails to follow the approved procedure.
Used if a hazard resulting in the minor or moderate injury of the user, or equipment
CAUTION damage may be expected to occur if he or she fails to follow the approved procedure.
Used if a supplementary explanation not related to any of WARNING, and CAUTION
NOTE
is to be indicated.

• Check this manual thoroughly, and keep it handy for the future reference.

3 USER SAFETY
User safety is the primary safety consideration. As it is very dangerous to enter the operating area of the
robot during its automatic operation, adequate safety precautions must be observed.

The following lists the general safety precautions. Careful consideration must be made to ensure user
safety.

(1) We obligate the User to take a FANUC training courses.

FANUC provides various training courses. Contact your local FANUC representative for
details.

(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is
waiting for a signal. In this state, the robot is regarded as still in motion. To ensure user safety,
provide the system with an alarm to indicate visually or aurally that the robot is in motion.
(3) Install a safety fence with a gate so that no user can enter the safety fence inside without passing
through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that
the robot is stopped as the safety gate is opened.

The controller is designed to receive this interlocking signal of the door switch. When the
safety fence is opened and this signal received, the controller stops the robot (Please refer to
"STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). For
connection, refer to below Fig.3 (b).

(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and Class D).
(5) Recommend to install the peripheral device outside of the motion range.
(6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools
such as a hand.
(7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm
that stops the robot when a user enters the motion range.
(8) If necessary, install a safety lock so that no one except the user in charge can turn the power on the
robot.

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B-83724EN/02 SAFETY PRECAUTIONS

The circuit breaker installed in the controller is designed to disable anyone from turning it on
when it is locked with a padlock.

(9) When adjusting each peripheral device independently, make sure to turn the power off the robot.
(10) Operators must take the gloves off while manipulating the operator’s panel or teach pendant.
Operation with gloved fingers may cause an operation error.
(11) Programs, system variables, and other information can be saved on memory card or USB memories.
Be sure to save the data periodically in case the data is lost in an accident.
(12) The robot must be transported and installed by accurate procedure recommended by FANUC.
Wrong transportation or installation may cause the robot to fall, resulting in severe injury to
workers.
(13) In the first operation of the robot after installation, the operation should be restricted to low speeds.
Then, the speed should be gradually increased to check the operation of the robot.
(14) Before the robot is started, it should be checked that no one is in the area of the safety fence. At the
same time, a check must be made to ensure that there is no risk of hazardous situations. If detected,
such a situation should be eliminated before the operation.
(15) Do not operate the robot under the following conditions. Otherwise, the robot and peripheral
equipment can be adversely affected, or workers can be severely injured.
- Flammable
- Explosive
- Massive dose of Radiation
- Under water, high (heavy) Humidity
- Transport human or animals
- Stepladder (climb or hang down)
- Outdoor
(16) When connecting the peripheral devices related to stop(safety fence etc.) and each signal (external
emergency , fence etc.) of robot, be sure to confirm the stop movement and do not take the wrong
connection.
(17) In preparing the trestle, please secure the maintenance engineer safety at high place in reference to
Fig. 3 (c). Design with the Scaffolding and Safety-belt with circumspection.

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 SAFETY PRECAUTIONS B-83724EN/02

RP1
Pulsecoder
RI/RO,XHBK,XROT
RM1
Motor power/brake

EARTH

Safety fence

Interlocking device and safety plug that are activated if the

gate is opened.

Fig. 3 (a) Safety fence and safety gate

WARNING
When you close a fence, please confirm that there is not a person from all
directions of the robot.

Dual chain Emergency stop board

(Note)
orPanel
Panelboard
board （Note）

EAS1 In case
For of R-30iA
the R-30iB, the R-30iB Mate
TerminalsEAS1,EAS11,EAS2,EAS21
Terminals EAS1,EAS11,EAS2,EAS21 areorprovided
FENCE1,FENCE2
on the
EAS11 are provided on the
emergency stop board.operation box or on the terminal block
of the printed circuit boar d.
EAS2
Refer
In casetoof R-30iA
the ELECTRICAL
Mate CONNCETIONS Chapter of
EAS21 CONNECTION of
Terminals EAS1,EAS11,EAS2,EAS21 are provided
R-30iB controller maintenance
on the emergency stop board manual (B-83195EN)
or connector panel. or
(in caseMate
R-30iB of Open air type)
controller maintenance manual (B-83525EN)
for details.
Termianls FENCE1,FENCE2 ar e provided
on the emergency stop board.
Single chain
Panel board
Refer to controller maintenance manual for details.
FENCE1

FENCE2

Fig. 3 (b) Limit switch circuit diagram of the safety fence

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B-83724EN/02 SAFETY PRECAUTIONS

Hook for safety belt

Fence

Steps

Trestle

Pedestal
for maintenance

Fig. 3 (c) Pedestal for maintenance

3.1 OPERATOR SAFETY

The operator is a person who operates the robot system. In this sense, a worker who operates the teach
pendant is also an operator. Operator cannot work inside the safety fence.

(1) If you don’t need to operate the robot, turn the power off the robot controller, or press the
“EMERGENCY STOP” button, and then proceed your work.
(2) Operate the robot system outside of the robot motion range.
(3) Install a safety fence with a safety gate to prevent any worker other than the operator from entering
the dangerous area unexpectedly and the worker from entering a hazardous area.
(4) Install one or more necessary quantity of EMERGENCY STOP button(s) within the operator’s reach
in appropriate location(s) based on the system layout.
The robot controller is designed to be connected to an external EMERGENCY STOP button.
With this connection, the controller stops the robot operation (Please refer to "STOP TYPE
OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type), when the external
EMERGENCY STOP button is pressed. See the diagram below for connection.
Dual chain
External stop button
Emergency stop board (Note)
Panel board
or Panel board Connect EES1 and EES11, EES2 and EES21
EES1
（Note）
For the R-30iB, the R-30iB Mate
EES11 Connect EES1and EES11,EES2 and EES21or EMGIN1and EMGIN2.
EES1,EES11,EES2,EES21 are on the emergency stop board
EES2 In case of R-30iA
EES1,EES11,EES2,EES21
Refer to the ELECTRICAL or EMGIN1,EMGIN2 are on the panel
CONNCETIONS board. of
Chapter
EES21
CONNECTION of
In case of R-30iA Mate
EES1,EES11,EES2,EES21
R-30iB are on the
controller maintenance emergency
manual stop boardor
(B-83195EN)
or connector
R-30iB Matepanel (in casemaintenance
controller of Open air type).
manual (B-83525EN)
Single chain EMGIN1,EMGIN2 are on the emergency stop board.
for details.
External stop button Refer to the maintenance manual of the controller for details.
Panel board

EMGIN1

EMGIN2

Fig. 3.1 Connection diagram for external emergency stop button

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3.2 SAFETY OF THE PROGRAMMER

While teaching the robot, the operator must enter the motion range of the robot. Please ensure the safety
of programmer.

(1) Unless it is specifically necessary to enter the robot motion range, carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal
condition.
(3) If it is inevitable to enter the robot motion range to teach the robot, check the locations, settings, and
other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN
switch on the teach pendant) before entering the area.
(4) The programmer must be extremely careful not to let anyone else enter the robot motion range.
(5) Programming must be done outside of the safety fence as far as possible. If programming needs to be
done in the area of the safety fence, the programmer must take the following precautions:
－ Before entering the safety fence area, ensure that there is no risk of hazardous situation in the
area.
－ Be ready to press the emergency stop button whenever it is necessary.
－ Operate the Robot at low speed.
－ Before starting programming, check the entire system status to ensure that no remote instruction
to the peripheral equipment or motion would harm user .

Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the
automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety
fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent
other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened
with the automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY
PRECAUTIONS for detail of stop type). After the switch is set to a teach mode, the safety gate is disabled. The
programmer should understand that the safety gate is disabled and is responsible for keeping other people from
entering the inside of the safety fence.

Teach pendant is provided with a switch to enable/disable robot operation from teach pendant and DEADMAN
switch as well as emergency stop button. These button and switch function as follows:
(1) Emergency stop button: Causes the stop of the robot (Please refer to "STOP TYPE OF ROBOT" in SAFETY
PRECAUTIONS for detail of stop type) when pressed.
(2) DEADMAN switch: Functions are different depending on the teach pendant enable/disable switch setting
status.
(a) Enable: Servo power is turned off and robot stops when the operator releases the DEADMAN switch
or when the operator presses the switch strongly.
(b) Disable: The DEADMAN switch is disabled.
(Note) The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or
presses the pendant strongly in case of emergency. The R-30iB/R-30iB Mate employs a 3-position
DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN switch is pressed
to its intermediate point. When the operator releases the DEADMAN switch or presses the switch
strongly, the robot stops immediately.

The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the
teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator
should make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely.

Based on the risk assessment by FANUC, number of operation of DEADMAN switch should not exceed about
10000 times per year.

The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the
validity of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator
panel, the teach pendant enable switch and the remote condition on the software.
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B-83724EN/02 SAFETY PRECAUTIONS

Software
Teach pendant
Mode remote Teach pendant Operator panel Peripheral device
enable switch
condition
Local Not allowed Not allowed Not allowed
On
AUTO Remote Not allowed Not allowed Not allowed
mode Local Not allowed Allowed to start Not allowed
Off
Remote Not allowed Not allowed Allowed to start
Local Allowed to start Not allowed Not allowed
On
T1, T2 Remote Allowed to start Not allowed Not allowed
mode Local Not allowed Not allowed Not allowed
Off
Remote Not allowed Not allowed Not allowed
T1,T2 mode: DEADMAN switch is effective.

(6) To start the system using the operator’s panel, make certain that nobody is in the robot motion range
and that there are no abnormal conditions in the robot motion range.
(7) When a program is completed, be sure to carry out the test operation according to the following
procedure.
(a) Run the program for at least one operation cycle in the single step mode at low speed.
(b) Run the program for at least one operation cycle in the continuous operation mode at low
speed.
(c) Run the program for one operation cycle in the continuous operation mode at the intermediate
speed and check that no abnormalities occur due to a delay in timing.
(d) Run the program for one operation cycle in the continuous operation mode at the normal
operating speed, and check that the system operates automatically without trouble.
(e) After checking the completeness of the program through the test operation above, execute it in
the automatic operation mode.
(8) While operating the system in the automatic operation mode, the teach pendant operator must leave
the safety fence.

3.3 SAFETY OF THE MAINTENANCE ENGINEER

For the safety of maintenance engineer personnel, pay utmost attention to the following.

(1) Must never be in the area during its operation.

(2) A hazardous situation may occur when the robot or the system, are kept with their power-on during
maintenance operations. Therefore, for any maintenance operation, the robot and the system must be
put into the power-off state. If necessary, a lock should be in place in order to prevent any other
person from turning on the robot and/or the system. In case maintenance needs to be executed in the
power-on state, the emergency stop button must be pressed.
(3) If it becomes necessary to enter the robot operation area while the power is on, press the emergency
stop button on the operator panel, or the teach pendant before entering the area. The maintenance
personnel must indicate that maintenance work is in progress and be careful not to allow other
people to operate the robot carelessly.
(4) When entering the area enclosed by the safety fence, the maintenance engineer must check the entire
system in order to make sure that there is no dangerous situation around. In case the worker needs to
enter the safety area whilst a dangerous situation exists, extreme care must be taken, and entire
system status must be carefully monitored.
(5) Before the maintenance of the pneumatic system is started, the supply pressure should be shut off
and the pressure in the piping should be reduced to zero.
(6) Before the start of maintenance, check the robot and its peripheral devices are all in the normal
condition.
(7) Do not operate the robot in the automatic mode while anybody is in the robot motion range.
(8) In maintaining the robot parallel to a wall or instrument, or when multiple workers are working
nearby, make certain that their escape path is not obstructed.
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 SAFETY PRECAUTIONS B-83724EN/02

(9) When a tool is mounted on the robot, or any moving device other than the robot is installed,
such as belt conveyor, careful attention required for those motion.
(10) Assign an expert near the operator panel who can press the EMERGENCY STOP button whenever
he sees the potential danger.
(11) In case of replacing a part, please contact your local FANUC representative. Wrong procedure may
cause the serious damage to the robot and the worker.
(12) Make sure that no impurity into the system in while (in) replacing or reinstalling components.
(13) Turn off the circuit breaker to protect again electric shock in handling each unit or printed circuit
board in the controller during inspection. If there are two cabinets, turn off the both circuit breaker.
(14) A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction
or damage would occur. Especially, a fuse that is not recommended by FANUC should not be used.
Such a fuse may cause not only a damage to the internal parts of the controller but also a fire.
(15) When restarting the robot system after completing maintenance work, make sure in advance that
there is no person in the motion range and that the robot and the peripheral devices are not abnormal.
(16) In case of remove the motor or brake, suspend the arm by crane or other equipment beforehand to
avoid falling.
(17) Whenever grease is spilled on the floor, remove them as soon as possible to prevent from falling.
(18) The following parts are heated. If a maintenance engineer needs to touch such a part in the heated
state, the worker should wear heat-resistant gloves or use other protective tools.
• Servo motor
• Inside of the controller
• Reducer
• Gearbox
• Wrist unit
(19) Maintenance must be done with appropriate lightning. Be careful that those lightning will not cause
any further danger.
(20) When a motor, reducer, or other heavy load is handled, a crane or other equipment should be used to
protect maintenance engineers from excessive load. Otherwise, the maintenance engineers would be
severely injured.
(21) Must never climb or step on the robot even in the maintenance. If it is attempted, the robot would be
adversely affected. In addition, a misstep can cause injury to the worker.
(22) Secure a pedestal and wear the safety belt in performing the maintenance work in high place.
(23) Remove all the spilled oil or water and metal chips around the robot in the safety fence after
completing the maintenance.
(24) All the related bolts and components must return to the original place in replacing the parts. If some
parts are missing or left (remained), repeat the replacement work until complete the installation.
(25) In case robot motion is required during maintenance, the following precautions should be taken :
• Secure an escape route. And during the maintenance motion itself, monitor continuously the
whole system so that your escape route will not become blocked by the robot, or by peripheral
equipment.
• Keep vigilant attention for the potential danger. and to press the emergency stop button
whenever it is necessary.
(26) Periodic inspection required. (Refer to the robot mechanical manual and controller maintenance
manual.) A failure to do the periodical inspection can may adversely affect the performance or
service life of the robot and may cause an accident
(27) After replacing some parts, a test run required by the predetermined method. (See TESTING section
of “Controller operator’s manual”. During the test run, the maintenance staff must work outside the
safety fence.

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4 SAFETY OF THE TOOLS AND

PERIPHERAL DEVICES
4.1 PRECAUTIONS IN PROGRAMMING
(1) Adopt a limit switch or other sensor to detect a dangerous state and, if necessary, design the program
to stop the robot when the sensor signal is received.
(2) Design the program to stop the robot when an abnormal condition occurs in any other robots or
peripheral devices, even though the robot itself is normal.
(3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care
must be taken in programming in order not to interfere with each other.
(4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect
the states of all devices in the system, and can be stopped according to the states.

4.2 PRECAUTIONS FOR MECHANISM

(1) Keep the component cells of the robot system clean, operate the robot where insulated from the
influence of grease, water, and dust.
(2) Don’t use unconfirmed liquid for cutting fluid and cleaning fluid.
(3) Adopt limit switches or mechanical stoppers to limit the robot motion, and avoid the robot from
collisions against peripheral devices or tools.
(4) Observe the following precautions about the mechanical unit cables. Failure to follow precautions
may cause mechanical troubles.
• Use mechanical unit cable that have required user interface.
• Do not add user cable or hose to inside of mechanical unit.
• Please do not obstruct the movement of the mechanical unit when cables are added to outside
of mechanical unit.
• In the case of the model that a cable is exposed, please do not perform remodeling (Adding a
protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the
cable.
• When installing user peripheral equipment on the robot mechanical unit, please pay attention
that equipment does not interfere with the robot itself.
(5) The frequent power-off stop for the robot during operation causes the trouble of the robot. Please
avoid the system construction that power-off stop would be operated routinely. (Refer to bad case
example.) Please perform power-off stop after reducing the speed of the robot and stopping it by
hold stop or cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in
SAFETY PRECAUTIONS for detail of stop type.)
(Bad case example)
• Whenever poor product is generated, a line stops by emergency stop and power-off of the robot
is incurred.
• When alteration is necessary, safety switch is operated by opening safety fence and power-off
stop is incurred for the robot during operation.
• An operator pushes the emergency stop button frequently, and a line stops.
• An area sensor or a mat switch connected to safety signal operates routinely and power-off stop
is incurred for the robot.
• Power-off stop is regularly incurred due to an inappropriate setting for Dual Check Safety
(DCS).
(6) Power-off stop of Robot is executed when collision detection alarm (SRVO-050) etc. occurs. Please
try to avoid unnecessary power-off stops. It may cause the trouble of the robot, too. So remove the
causes of the alarm.
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5 SAFETY OF THE ROBOT MECHANICAL

UNIT
5.1 PRECAUTIONS IN OPERATION
(1) Operating the robot in the jog mode, set it at an appropriate speed so that the operator can manage
the robot in any eventuality.
(2) Before pressing the jog key, be sure to comprehend the robot movement by the key in advance.

5.2 PRECAUTIONS IN PROGRAMMING

(1) Design to arrange avoiding mutual interfere when various robot’s operation area crossover
significantly.
(2) Be sure to specify the predetermined work origin in a motion program so that the robot starts from
the origin and terminates at the origin. Make it possible for the operator to distinguish easily that the
robot motion has terminated at a glance.

5.3 PRECAUTIONS FOR MECHANISMS

Keep the motion range areas of the robot clean, and operate the robot in an environment free of grease,
water, and dust.

5.4 PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER

IN EMERGENCY OR ABNORMAL SITUATIONS
For emergency or abnormal situations (e.g. persons trapped in or pinched by the robot), brake release unit
can be used to move the robot axes without drive power.
Please refer to controller maintenance manual and mechanical unit operator’s manual for using method of
brake release unit and method of supporting robot.

6 SAFETY OF THE END EFFECTOR

6.1 PRECAUTIONS IN PROGRAMMING
(1) Circumspect program with sufficient delay required for the program after executing some control
command in adopting actuators (pneumatic, hydraulic, and electric)
(2) Adopt limit switches for the end effector, and control the robot system by monitoring the state.

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B-83724EN/02 SAFETY PRECAUTIONS

7 STOP TYPE OF ROBOT

There are following three types of Stopping Robot.

Power-Off Stop (Category 0 following IEC 60204-1)

Servo power is turned off, and the robot stops immediately. Servo power is turned off when the robot is
moving, and the motion path of the deceleration is uncontrolled.
“Power-Off stop” performs following processing.
• An alarm is generated, and then the servo power turns off. Instantly the robot stops.
• Execution of the program is paused.
Frequent Power-Off stop of the robot during operation can cause mechanical problems of the robot.
Avoid system designs that require routine or frequent Power-Off stop conditions.

Controlled stop (Category 1 following IEC 60204-1)

The robot is decelerated until it stops, and servo power is turned off.
“Controlled stop” performs following processing.
• The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. The program
execution is paused.
• An alarm is generated, and then the servo power turns off.

Hold (Category 2 following IEC 60204-1)

The robot is decelerated until it stops, and servo power remains on.
“Hold” performs following processing.
• The robot operation is decelerated until it stops. Execution of the program is paused.

WARNING
The stopping distance and time of Controlled stop are longer than those of
Power-Off stop. A risk assessment for the whole robot system which takes into
consideration the increased stopping distance and stopping time, is necessary
when Controlled stop is used.

When the emergency stop button is pressed or the FENCE is open, the stop type of robot is Power-Off
stop or Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop
pattern is different according to the controller type or option configuration.

There are the following 3 Stop patterns.

Emergency External
Stop Servo
Mode stop Emergency FENCE open SVOFF input
pattern disconnect
button stop
AUTO P-Stop P-Stop C-Stop C-Stop P-Stop
A T1 P-Stop P-Stop - C-Stop P-Stop
T2 P-Stop P-Stop - C-Stop P-Stop
AUTO P-Stop P-Stop P-Stop P-Stop P-Stop
B T1 P-Stop P-Stop - P-Stop P-Stop
T2 P-Stop P-Stop - P-Stop P-Stop
AUTO C-Stop C-Stop C-Stop C-Stop C-Stop
C T1 P-Stop P-Stop - C-Stop P-Stop
T2 P-Stop P-Stop - C-Stop P-Stop
P-Stop: Power-Off stop
C-Stop: Controlled stop
-: Disable
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 SAFETY PRECAUTIONS B-83724EN/02

The following table indicates the Stop pattern according to the controller type or option configuration.
Option R-30iB/ R-30iB Mate
Standard A (*)
Controlled stop by E-Stop (A05B-2600-J570) C (*)
(*) R-30iB / R-30iB Mate does not have servo disconnect. R-30iB Mate does not have SVOFF input.

The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please
refer to "Software version" in operator's manual of controller for the detail of software version screen.

"Controlled stop by E-Stop" option

When "Controlled stop by E-Stop" (A05B-2600-J570) option is specified, the stop type of the following
alarms becomes Controlled stop but only in AUTO mode. In T1 or T2 mode, the stop type is Power-Off
stop which is the normal operation of the system.

Alarm Condition
SRVO-001 Operator panel E-stop Operator panel emergency stop is pressed.
SRVO-002 Teach pendant E-stop Teach pendant emergency stop is pressed.
SRVO-007 External emergency stops External emergency stop input (EES1-EES11, EES2-EES21) is open.
SRVO-408 DCS SSO Ext Emergency Stop In DCS Safe I/O connect function, SSO[3] is OFF.
SRVO-409 DCS SSO Servo Disconnect In DCS Safe I/O connect function, SSO[4] is OFF.

Controlled stop is different from Power-Off stop as follows:

• In Controlled stop, the robot is stopped on the program path. This function is effective for a system
where the robot can interfere with other devices if it deviates from the program path.
• In Controlled stop, physical impact is less than Power-Off stop. This function is effective for
systems where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be
minimized.
• The stopping distance and time of Controlled stop is longer than the those of Power-Off stop,
depending on the robot model and axis. Please refer to the operator's manual of a particular robot
model for the data of stopping distance and time.

When this option is loaded, this function cannot be disabled.

The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.

WARNING
The stopping distance and time of Controlled stop are longer than those of
Power-Off stop. A risk assessment for the whole robot system which takes into
consideration the increased stopping distance and stopping time, is necessary
when this option is loaded.
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TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
1 PREFACE................................................................................................ 1
1.1 ABOUT THIS MANUAL ................................................................................. 1
2 OVERVIEW ............................................................................................. 3
2.1 COMPONENTS ............................................................................................. 4
2.2 SOFTWARE .................................................................................................. 6
3 BASIC VISION FUNCTION OPERATION............................................... 7
3.1 CONNECTING A CAMERA ........................................................................... 7
3.1.1 Setting SONY XC-56 ...............................................................................................7
3.1.2 Connecting the Camera to the Robot Controller or the iPendant .............................7
3.2 DISPLAYING THE RUNTIME MONITOR...................................................... 9
3.3 ADJUSTING THE LENS ................................................................................ 9
3.4 VISION DATA SETUP SCREEN ................................................................. 10
3.4.1 Menu Structure of Vision Data Setup Screen.........................................................11
3.4.2 List Screen..............................................................................................................12
3.4.3 Detail Screen ..........................................................................................................16
3.4.4 Model Training Screen ...........................................................................................18
3.4.4.1 Adjusting the exposure time ··························································19
3.4.4.2 Operating the model training screen ·················································20
3.4.5 Parameter Setting Screen........................................................................................24
3.4.5.1 Detection parameters ···································································25
3.4.5.2 Adjusting detection parameters ·······················································25
3.5 USING iRVision CAMERA........................................................................... 27
3.6 SAVING AND READING VISION DATA...................................................... 29
4 VISION MASTERING ............................................................................ 30
4.1 VISION MASTERING .................................................................................. 30
4.2 SYSTEM CONFIGURATION ....................................................................... 30
4.2.1 Overall Configuration.............................................................................................30
4.2.2 Outline of the Vision Mastering Procedure............................................................31
4.2.3 Features of the Vision Mastering Function, Including Adjustment of Gravity
Compensation Parameters ......................................................................................32
4.3 MEASURING POSES FOR VISION MASTERING...................................... 32
4.3.1 Outline of Measuring Poses ...................................................................................32
4.3.2 Determining the Reference Pose ............................................................................33
4.3.3 Examples of Reference Pose ..................................................................................34
4.4 INSTALLATION OF THE CAMERA AND TARGET..................................... 35
4.4.1 Installing the Camera..............................................................................................35
4.4.2 Installing the Target................................................................................................37
4.5 OPERATION OF VISION MASTERING WITH THE GRAVITY
COMPENSATION FUNCTION UNAVAILABLE........................................... 38
4.5.1 Outline of the Operation Procedure........................................................................38
4.5.2 Displaying the Vision Mastering Screen................................................................40
4.5.3 Setup on Vision Mastering Screen .........................................................................40
4.5.4 Generating a Measurement Program ......................................................................41
4.5.5 Executing the Measurement Program.....................................................................51
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4.5.6 Updating Mastering Data .......................................................................................53

4.5.7 Viewing and Saving Mastering Results .................................................................55
4.6 OPERATION OF VISION MASTERING WITH THE GRAVITY
COMPENSATION FUNCTION ENABLED................................................... 56
4.6.1 Vision Mastering Functions, Including Adjustment of Gravity Compensation
Parameters ..............................................................................................................56
4.6.2 Outline of the Vision Mastering Procedure............................................................57
4.6.3 Displaying the Vision Mastering Screen................................................................59
4.6.4 Setup on Vision Mastering Screen .........................................................................60
4.6.5 Generating a Measurement Program ......................................................................62
4.6.6 Executing the Measurement Program.....................................................................71
4.6.7 Updating Mastering Data .......................................................................................73
4.6.8 Viewing and Saving Mastering Results .................................................................77
4.7 DETAILS OF TP PROGRAMS AND LOG FILE........................................... 78
4.7.1 TP Program.............................................................................................................78
4.7.2 Log File ..................................................................................................................80
4.8 AVAILABLE TARGET.................................................................................. 81
4.8.1 Calibration Grid......................................................................................................81

5 GENKOTSU VISION MASTERING....................................................... 82

5.1 GENKOTSU VISION MASTERING ............................................................. 82
5.2 OVERVIEW OF GENKOTSU VISION MASTERING ................................... 82
5.2.1 System Configuration.............................................................................................82
5.2.2 TP Program to Execute Vision Measurement ........................................................83
5.3 OPERATION OF GENKOTSU VISION MASTERING ................................. 84
5.3.1 Operation Procedure...............................................................................................84
5.3.2 Preparing the Camera .............................................................................................86
5.3.3 Attaching the Target...............................................................................................86
5.3.4 Setting Parameters for Measurement and Display the Runtime Monitor...............87
5.3.5 Executing Vision Measurement .............................................................................89
5.3.6 Operation in “Genkotsu Vision Mastering” Screen ...............................................93
5.3.7 Updating Kinematic Parameters.............................................................................95
5.4 RESETTING KINEMATIC PARAMETERS .................................................. 97
5.4.1 Resetting Kinematic Parameters.............................................................................97
5.4.2 Re-mastering after Replacement of Mechanical Parts............................................97

6 VISION MASTER RECOVERY ............................................................. 98

6.1 VISION MASTER RECOVERY.................................................................... 98
6.2 SYSTEM CONFIGURATION ....................................................................... 98
6.2.1 Overall Configuration.............................................................................................98
6.2.2 Outline of the Vision Master Recovery Procedure...............................................100
6.3 MEASURING POSES FOR VISION MASTER RECOVERY ..................... 101
6.3.1 Outline of Measuring Poses .................................................................................101
6.3.2 Example of Reference Pose..................................................................................101
6.4 INSTALLATION OF THE CAMERA AND CALIBRATION GRID................ 102
6.4.1 Installing the Camera............................................................................................102
6.4.2 Installing the Calibration Grid..............................................................................103
6.5 OPERATION OF VISION MASTER RECOVERY...................................... 105
6.5.1 Operation Procedure.............................................................................................105
6.5.2 Displaying the ”Vision Master Recovery" Screen ...............................................107
6.5.3 Setup on the ”Vision Master Recovery” Screen...................................................108
6.5.4 Setting Robot Axes to Recover ............................................................................109
6.5.5 Generating a Measurement Program ....................................................................110
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6.5.6 Executing the Measurement Program for Reference............................................120
6.5.7 Execute the Measurement Program for Check .....................................................122
6.5.8 Replacing Robot Parts and Set Temporary Mastering Data.................................126
6.5.9 Executing the Measurement Program for Recovery.............................................127
6.5.10 Recovering Mastering Status................................................................................129
6.5.11 Viewing and Saving Recovering Results .............................................................131
6.6 DETAILS OF TP PROGRAMS AND LOG FILE......................................... 132
6.6.1 TP Program...........................................................................................................132
6.6.2 Log File ................................................................................................................134
6.7 AVAILABLE TARGET................................................................................ 135
6.7.1 Calibration Grid....................................................................................................135

7 VISION AXIS MASTER ....................................................................... 136

7.1 VISION AXIS MASTER ............................................................................. 136
7.2 OVERVIEW OF VISION AXIS MASTER ................................................... 136
7.2.1 System Configuration...........................................................................................136
7.2.2 Overview of Target Mark.....................................................................................137
7.2.3 Overview of AMU................................................................................................139
7.2.4 Overview of Vision Measurement........................................................................140
7.2.5 Basic Functions ....................................................................................................142
7.3 OPERATION OF VISION AXIS MASTER ................................................. 144
7.3.1 Operation Procedure.............................................................................................144
7.3.2 Installation of AMU and Target Marks ................................................................147
7.3.3 Displaying the “Vision Axis Master” Screen .......................................................147
7.3.4 Resetting Alarms ..................................................................................................148
7.3.5 Setting Countdown ...............................................................................................149
7.3.6 Setting Robot Group Number...............................................................................149
7.3.7 Operation in the “Select Reference Data” Screen ................................................150
7.3.8 Operation in the “View Reference Data” Screen .................................................154
7.3.9 Operation in the “Select Axis Number” Screen ...................................................156
7.3.10 Entering the CV Number of the Target Fixture....................................................160
7.3.11 Attaching Gauging Bracket for AMU ..................................................................162
7.3.12 Moving Axis to Measurement Position................................................................162
7.3.13 Executing Measurement .......................................................................................163
7.3.14 Viewing Results and Updating data .....................................................................168
7.4 IMAGE DISPLAY DURING VISION MEASUREMENT .............................. 179
7.5 LOG FILE DETAILS................................................................................... 183
8 ALL-AXIS VISION MASTERING......................................................... 185
8.1 ALL-AXIS VISION MASTERING................................................................ 185
8.2 PARTS FOR ALL-AXIS VISION MASTERING .......................................... 185
8.3 OUTLINE OF OPERATION ....................................................................... 186
8.4 INSTALLATION OF THE SPECIAL SET OF PARTS ................................ 186
8.5 DISPLAYING ALL-AXIS VISION MASTERING SCREEN ......................... 186
8.6 ADJUSTING THE CAMERA ...................................................................... 187
8.7 CALIBRATING THE CAMERA POSITION ................................................ 190
8.8 MOVING TO THE START POSITION ....................................................... 190
8.9 MEASUREMENT....................................................................................... 192
8.10 UPDATING MASTERING DATA ............................................................... 193
9 WRIST-AXIS VISION MASTERING .................................................... 196
9.1 WRIST-AXIS VISION MASTERING .......................................................... 196
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9.2 SYSTEM CONFIGURATION ..................................................................... 196

9.2.1 Overall Configuration...........................................................................................196
9.2.2 Attaching the Measurement Target ......................................................................197
9.2.3 Robot Poses ..........................................................................................................199
9.2.3.1 Initial Pose············································································· 199
9.2.3.2 Setting Camera········································································ 201
9.2.3.3 Reference Pose········································································ 202
9.3 OPERATION OF WRIST-AXIS VISION MASTERING .............................. 203
9.3.1 Outline of the Operation Procedure......................................................................203
9.3.2 Preparing the Camera and Measurement Target ..................................................205
9.3.3 Displaying the Wrist-Axis Vision Mastering Screen ...........................................205
9.3.4 Setting Robot Group Number...............................................................................206
9.3.5 Creating the Reference Pose.................................................................................206
9.3.6 Executing the Measurement Program...................................................................214
9.3.7 Updating Mastering Data .....................................................................................216
9.3.8 Viewing and Saving Mastering Results ...............................................................217
9.4 DETAILS OF TP PROGRAMS AND LOG FILE......................................... 218
9.4.1 TP Program...........................................................................................................218
9.4.2 Log File ................................................................................................................219

10 VISION TCP SET ................................................................................ 220

10.1 VISION TCP SET ...................................................................................... 220
10.2 SYSTEM CONFIGURATION ..................................................................... 220
10.2.1 Overall Configuration...........................................................................................220
10.3 VISION TCP SET PROCEDURE............................................................... 221
10.3.1 Outline of the TCP Set Procedure ........................................................................221
10.3.2 Preparation............................................................................................................222
10.3.3 Additional preparation for 4-axis/5-axis Robot....................................................224
10.3.4 Additional Preparation for M-1iA/0.5A ...............................................................224
10.3.5 Vision TCP Set Screen .........................................................................................224
10.3.6 Selecting the Robot Motion Group ......................................................................225
10.3.7 Setting for TP Program.........................................................................................225
10.3.8 Vision Function Setting........................................................................................226
10.3.9 Executing Vision TCP Set....................................................................................227
10.3.10 Result of Vision TCP Set for a 6-axis Robot .......................................................228
10.3.11 Result of Vision TCP Set for 4-axis/5-axis Robot ...............................................229
10.3.12 Offsetting the Tool Frame with VTOFSTUT.......................................................229
10.4 AUTOMATIC MEASUREMENT................................................................. 231
10.4.1 Vision TCP Set Program (7DC3/09 or earlier) ....................................................231
10.4.2 Vision TCP Set Program (7DC3/10 or later) .......................................................232
10.4.3 Automatic Measurement for 6-axis Robot ...........................................................232
10.4.4 Automatic Measurement for 4/5-axis Robot ........................................................233
10.5 IMPROVING THE ACCURACY OF TCP ................................................... 233
10.5.1 Improving the Accuracy of X and Y Components of TCP ..................................233
10.5.2 Improving the Accuracy of Z Component of TCP ...............................................234
10.6 TROUBLESHOOTING............................................................................... 236
10.6.1 An alarm occurs during executing the TP program..............................................236

11 VISION FRAME SET ........................................................................... 237

11.1 ABOUT VISION FRAME SET.................................................................... 237
11.1.1 System Configuration...........................................................................................237
11.2 VISION FRAME SET PROCEDURE ......................................................... 238
11.2.1 Preparation............................................................................................................238
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11.2.2 Vision Frame Set Screen ......................................................................................239
11.2.3 Selecting the Robot Motion Group ......................................................................240
11.2.4 Setup.....................................................................................................................240
11.2.5 Setup – Vision Schedule.......................................................................................241
11.2.6 Teach Points .........................................................................................................243
11.2.7 Creating the TP Program for Vision Frame Set ...................................................245
11.2.8 Running the TP Program for Vision Frame Set ...................................................246
11.2.9 Updating the User Frame......................................................................................246
11.2.10 Viewing the Past Results ......................................................................................247
11.3 MODIFYING A UFRAME ON A REAL ROBOT BASED ON A UFRAME OF AN
OFFLINE ROBOT...................................................................................... 248
11.3.1 Preparation............................................................................................................249
11.3.2 Vision Frame Set Screen ......................................................................................250
11.3.3 Selecting the Robot Motion Group ......................................................................250
11.3.4 Setup.....................................................................................................................251
11.3.5 Teach Points .........................................................................................................253
11.3.6 Creating the TP Program for Vision Frame Set ...................................................254
11.3.7 Running the TP Program for Vision Frame Set ...................................................255
11.3.8 Updating the User Frame......................................................................................256
11.4 VISION FRAME SHIFT.............................................................................. 257
11.4.1 Preparation............................................................................................................258
11.4.2 Vision Frame Shift Screen....................................................................................258
11.4.3 Outline of the Procedure.......................................................................................259
11.4.4 Selecting the Robot Motion Group ......................................................................260
11.4.5 Setup.....................................................................................................................260
11.4.6 Setup – UFrame Schedule ....................................................................................262
11.4.7 Teach Points .........................................................................................................263
11.4.8 Creating the TP Program for Vision Frame Shift.................................................264
11.4.9 Running the TP Program for Vision Frame Shift (perform before relocation) ....265
11.4.10 Running the TP Program for Vision Frame Shift (after relocation).....................266
11.4.11 Updating the User Frame......................................................................................267

12 VISION SHIFT ..................................................................................... 269

12.1 ABOUT VISION SHIFT.............................................................................. 269
12.2 OUTLINE OF VISION SHIFT..................................................................... 269
12.2.1 SYSTEM CONFIGURATION ............................................................................269
12.2.2 Vision shift procedure ..........................................................................................271
12.2.3 Selection of the measurement method..................................................................272
12.3 MEASUREMENT BASED ON VISION SHIFT ........................................... 274
12.3.1 Preparation............................................................................................................274
12.3.2 Starting and Ending Measurement Based on Vision Shift ...................................274
12.3.3 Checking Initial Settings ......................................................................................274
12.3.4 Setting up Vision ..................................................................................................277
12.3.5 Creating and Testing Programs for Vision Shift Measurement............................277
12.3.6 Measuring Reference Points before Reinstallation ..............................................281
12.3.7 Measuring Reference Points after Reinstallation .................................................283
12.3.8 Other Operations ..................................................................................................286
12.3.9 Backing up Data ...................................................................................................289
12.3.10 Offline Shift Operation.........................................................................................290
12.4 PROGRAM SHIFT (ONLINE SHIFT FUNCTION) ..................................... 291
12.4.1 Specifying a Program for Shift Operation............................................................291
12.4.2 Three-Point Shift Operation .................................................................................291
12.4.3 One-Point Shift Operation....................................................................................295
12.4.4 Checking the Result of Shift Operation................................................................298
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12.4.5 Canceling a Shift Operation .................................................................................299

12.5 SPECIFICATIONS OF TP PROGRAMS FOR VISION SHIFT................... 300
12.5.1 Outline of TP Programs Used for Vision Shift ....................................................300
12.5.2 Sample TP Program..............................................................................................301
12.5.3 Relationship between Vision Shift and TP Programs ..........................................301
12.5.4 List of Data Used for Vision Shift........................................................................303
12.5.5 Details of TP Programs ........................................................................................304
12.5.6 Subprograms Called from VSFINDi ....................................................................308
12.6 TROUBLESHOOTING............................................................................... 311
13 VISION MULTI-CAL ............................................................................ 314
13.1 ABOUT VISION MULTI-CAL ..................................................................... 314
13.1.1 Overview ..............................................................................................................314
13.1.2 System Configuration...........................................................................................314
13.1.3 Outline of the Vision Multi-Cal Procedure ..........................................................316
13.2 PROCESS FOR VISION MULTI-CAL (TWO ROBOTS)............................ 322
13.2.1 Preparation............................................................................................................322
13.2.2 Vision Multi-Cal Screen.......................................................................................322
13.2.3 Selecting a Vision Multi-Cal Schedule ................................................................324
13.2.4 Setting up a Vision Multi-Cal Schedule...............................................................324
13.2.4.1 Coordinated calibration setup ······················································· 324
13.2.4.2 Uncoordinated calibration setup ···················································· 327
13.2.5 Setting Up Vision .................................................................................................329
13.2.6 Program Creation .................................................................................................329
13.2.7 Executing Program ...............................................................................................331
13.2.8 Displaying and Updating Calibration Result........................................................332
13.3 VISION MULTI-CAL TP PROGRAM (TWO ROBOTS).............................. 334
13.4 PROCESS FOR VISION MULTI-CAL (ONE ROBOT AND ONE POSITIONER)
................................................................................................................... 338
13.4.1 Preparation............................................................................................................338
13.4.2 Setting of Vision Data ..........................................................................................338
13.4.3 Creation of TP Program .......................................................................................339
13.4.4 Execution of TP Program .....................................................................................344
13.4.5 Update of the Calibration Result ..........................................................................345
13.5 TROUBLESHOOTING............................................................................... 346
13.5.1 An alarm occurs during executing VTCPSET .....................................................346

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B-83724EN/02 1.PREFACE

1 PREFACE
iRCalibration is a generic term for the functions supporting the startup of a robot system. This manual
describes the following iRCalibration functions:
• iRCalibration Vision Mastering
• iRCalibration Genkotsu Vision Mastering
• iRCalibration Vision Master Recovery
• iRCalibration Vision Axis Master
• iRCalibration All-Axis Vision Mastering
• iRCalibration Wrist-Axis Vision Mastering
• iRCalibration Vision TCP Set
• iRCalibration Vision Frame Set
• iRCalibration Vision Shift
• iRCalibration Vision Multi-Cal

1.1 ABOUT THIS MANUAL

About this manual
This manual describes how to operate iRCalibration Vision Mastering, Genkotsu Vision Mastering,
Vision Master Recovery, Vision Axis Master, Wrist-Axis Vision Mastering, Vision TCP Set, Vision
Frame Set, Vision Shift, Vision Multi-Cal, and All-Axis Vision Mastering for the R-30iB / R-30iB Mate
controller.
In this manual, only the operations of iRCalibration functions are explained, assuming that the installation
of the robot is completed. Refer to the "R-30iB / R-30iB Mate Operator’s Manual" about other
operations of FANUC robots.

CAUTION
This manual is based on R-30iB / R-30iB Mate system software version
7DC3/02(8.30P/02). Note that the functions and settings not described in this
manual may be available, and some notation differences are present, depending
on the software version.

Organization of this manual

This manual consists of the following chapters:

Chapter Description
Chapter 2, "OVERVIEW" Outline of the iRCalibration suite.
Chapter 3, "BASIC VISION FUNCTION Describes the camera connection, image display, teaching of a
OPERATION" model to be detected, and the parameter setting for detection.
Chapter 4, "VISION MASTERING" Describes the setting and operation of Vision Mastering.
Chapter 5, "GENKOTSU VISION MASTERING" Describes the setting and operation of Genkotsu Vision
Mastering.
Chapter 6, "VISION MASTER RECOVERY" Describes the setting and operation of Vision Master Recovery.
Chapter 7, "VISION AXIS MASTER" Describes the setting and operation of Vision Axis Master.
Chapter 8, "ALL-AXIS VISION MASTERING" Describes the setting and operation of All-Axis Vision
Mastering.
Chapter 9, "Wrist-Axis Vision Mastering" Describes the setting and operation of Wrist-Axis Vision
Mastering.
Chapter 10, "VISION TCP SET" Describes the setting and operation of Vision TCP Set.
Chapter 11, "VISION FRAME SET" Describes the setting and operation of Vision Frame Set.
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1.PREFACE B-83724EN/02

Chapter Description
Chapter 12, "VISION SHIFT" Describes the setting and operation of vision shift and the shift
of a program.
Chapter 13, "VISION MULTI-CAL" Describes the setting and operation of Vision Multi-Cal.

Related manuals
R-30iB / R-30iB Mate OPERATOR’S Topics: Robot functions, operations, programming, interfaces
MANUAL (Basic Operation) Use: Applicable design, robot installation, teaching, adjustment
B-83284EN
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MANUAL (Alarm Code List) Use: Installation, start-up, connection, teaching, adjustment,
B-83284EN-1 maintenance
R-30iB/R-30iB Mate CONTROLLER Topics: Description of the software optional functions.
Optional Function OPERATOR’S Use: Applicable design, robot installation, teaching, adjustment
MANUAL
B83284EN-2
R-30iB / R-30iB Mate iRVision Topics: Outline of iRVision, basic operation, sensor calibration,
OPERATOR’S MANUAL (Reference) description of each function, programming
B-83304EN Use: Teaching, adjustment
R-30iB CONTROLLER Topics: Installation and set-up, connection to peripheral equipment,
MAINTENANCE MANUAL maintenance of the system
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MAINTENANCE MANUAL maintenance of the system
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MAINTENANCE MANUAL maintenance of the system
B-83555EN Use: Installation, start-up, connection, maintenance
R-30iB Sensor Mechanical -Control Topics: Connection of the sensors, robot, and control devices,
unit OPERATOR'S MANUAL maintenance of the sensors
B-83434EN Use: Connection and maintenance of the sensors

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B-83724EN/02 2.OVERVIEW

2 OVERVIEW
iRCalibration Vision Mastering, Genkotsu Vision Mastering, Vision Master Recovery, Vision Axis
Master, Wrist-Axis Vision Mastering, Vision TCP Set, Vision Frame Set, Vision Shift, Vision Multi-Cal,
and All-Axis Vision Mastering are options for supporting the startup and integration of a robot system by
using a camera (vision system).

iRCalibration Vision Mastering

Vision Mastering applies high-precision mastering to the J2 through J5 axes of a robot using a camera.
This function enhances robot position precision through TCP setting, offline programming, vision
compensation, and so forth.

iRCalibration Genkotsu Vision Mastering (Standard function)

Genkotsu Vision Mastering enhances positional accuracy of Genkotsu-Robot by using a camera to
measue a target that is attached to the tip of the robot tool by a camera to calculate the kinematic
parameters of Genkotsu-Robot to compensate.

iRCalibration Vision Master Recovery (Standard function)

Vision Master Recovery recovers invalidated master data caused by the robot maintenance operation such
as motor or reduction gear replacement.

iRCalibration Vision Axis Master

Vision Axis Master uses vision to recover mastering data of an axis of the robot. It is similar to the
existing Single Axis Masering or Quick Mastering, but more accurate than those.

iRCalibration All-Axis Vision Mastering (Standard function)

All-Axis Vision Mastering can be used for the same purpose of Jig Mastering. It performs Mastering
equivalent to factory default by automatic vision measurement.

iRCalibration Wrist-Axis Vision Mastering (Standard function)

The Wrist-Axis Vision Mastering calibrates wrist-axis mastering parameters (zero positions of J4, J5 and
J6) with same accuracy as the Jig Mastering (Fixture Position Master) or All-Axis Vision Mastering with
a simpler procedure. This is for a robot that requires wrist replacement.

iRCalibration Vision TCP Set

Vision TCP Set automatically sets the robot tool center point (TCP) by using a camera.
This function accurately defines a tool coordinate system to a user defined UTool.

iRCalibration Vision Frame Set

Vision Frame Set automatically sets the user frame by checking three reference marks (reference points)
provided for a workpiece or the jig fixing the workpiece through the camera attached to the robot.

iRCalibration Vision Shift

Vision shift works by viewing reference marks or targets on a workpiece or fixture with a robot mounted
camera. Vision shift measures the position of the workpiece or fixture based on the reference marks.
The robot positions in a user-defined program are modified based on the measurements from vision shift.

If the position of a workpiece or fixture has changed because the robot system is moved or reinstalled, or
a robot program created with the offline programming system is applied to a robot, vision shift can
modify taught robot positions easily and efficiently.
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iRCalibration Vision Multi-Cal

Vision Multi-Cal calibrates two robots or a system using a robot and a positioner controlled for
coordinated motion. With a camera attached to one robot and a reference mark attached to the other
robot or the positioner, this function automatically measures the relative positions and postures of the two
robots or the robot and the positioner to calibrate the coordinated pair with a high degree of accuracy.

2.1 COMPONENTS
Overall configuration
The following components are mainly used:

• Camera
• Lens
• Camera cable
• Robot controller
• Teach pendant iPendant

A camera is attached to the robot end of arm tooling (EOAT) or fix mounted, perhaps mounted to a
commercially available tripod.
For details, see the chapter describing each function.

NOTE
The customer is to provide mounting hardware to attach a camera to the tool of
the robot, or to mount the camera on the floor.

Camera
Use a following camera.

Specification Quantity
SONY CCD camera XC-56 1
BASLER iPendant USB camera acA640-20um 1

NOTE
• Vision Axis Master uses a special camera unit instead of the camera listed
above.
• All-Axis Vision Mastering uses the special camera fixture.
See the chapter describing each function for details.

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NOTE
• BASLER acA640-20um requires the system software version is 7DC3/02 or
later.
• BASLER acA640-20um requires iPendant firmware version V8.3037 or later. If
the i Pendant firmware version is old, images can’t be snapped and the alarm
‘TP firmware version is too old’ is posted when trying to snap image.
• If the FROM size of the robot controller is 64MB or more, executing controlled
start and cold start of the controller successively allows the i Pendant firmware
to update automatically. For details on controlled start and cold start of the
controller, see “B.1. start mode” of “R-30iB/R-30iB Mate CONTROLLER
OPERATOR’S MANUAL (Basic Operation)”.
• If the FROM size of the robot controller is less than 64MB, contact FANUC
service center to update the i Pendant firmware.

NOTE
If “Teach Pendant Disconnect Function” or “Teach Pendant Hot Swap Function”
is available, do not disconnect iPendant from the controller while snapping
images with the USB camera as displaying the live images.

Lens
Use a C-mount lens for a 1/3-inch CCD camera.

Specification Quantity
C-mount lens for a 1/3-inch CCD camera f=12mm 1

NOTE
• Vision Axis Master uses special camera unit instead of the camera and the
lens listed above.
• All-Axis Vision Mastering uses the special camera fixture.
• In addition, Genkotsu Vision Mastering uses an extension ring.
See the chapter describing each function for details.

Camera cable
A cable for connecting the SONY CCD camera XC-56 to the robot controller is required. Select one of
four types of cables: 7 m long, 14 m long, 20 m long, or 25m long.

Cable type for SONY CCD camera XC-56 Quantity

Camera Connection Cable(7m)
Camera Connection Cable(14m)
1
Camera Connection Cable(20m)
Camera Connection Cable(25m)

If a BASLER iPendant USB camera is used, prepare a USB3.0 cable with a male A-type connector and a
male micro-B-type connector.

Tips
For controllers with 7DC2/02(8.20P/02) or later software: The iRCalibration
options can share the camera data with iRVision if iRVision is installed.
Refer to "3.5 USING iRVision CAMERA" for more details.

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2.OVERVIEW B-83724EN/02

Teach pendant iPendant

The iPendant is required to display a camera image.

2.2 SOFTWARE
Vision Mastering, Vision Axis Master, Vision TCP Set, Vision Frame Set, Vision Shift, and Vision
Multi-Cal are robot options. To use these functions, the following software options are required
respectively:

Function Required option

Vision Mastering iRCalibration Vision Mastering
Genkotsu Vision Mastering None. This function is standard.
Vision Master Recovery None. This function is standard.
Vision Axis Master iRCalibration Vision Axis Master
All-Axis Vision Mastering None. This function is standard.
Wrist-Axis Vision Mastering None. This function is standard.
Vision TCP Set iRCalibration Vision TCP Set
Vision Frame Set iRCalibration Vision Frame Set
Vision Shift iRCalibration Vision Shift
Vision Multi-Cal iRCalibration Vision Multi-Cal

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

3 BASIC VISION FUNCTION OPERATION

This chapter describes the method of operating the vision function common to the iRCalibration.

3.1 CONNECTING A CAMERA

3.1.1 Setting SONY XC-56

Set the switches on the rear panel of a camera (SONY XC-56) as shown below. This setting is not
necessary if an iPendant USB camera is used.
(1)

1 O
2 N
3
4
5
6
7
8
9
0

(2) (3)

No. Switch Setting for vision shift Factory settings

before shipment
(1) DIP switch Set 7 and 8 to ON (right side). Set all switches to OFF
Set the others to OFF (left side). (left side).
(2) 75Ω terminating switch ON Å
(3) HD/VD signal input switch To the EXT side Å
Fig. 3.1.1 Setting a camera

Change the setting of switches 7 and 8 of the DIP switch (1) to ON (right side) from the factory settings
of the camera. Do not change the settings of the other switches from the factory settings.

3.1.2 Connecting the Camera to the Robot Controller or the

iPendant
When a SONY XC-56 camera is used and iRVision function is not used
Connect the camera to the JRL7 port on the main board.
Use a camera cable for connection.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

MAIN Board

JRL7 port

Camera Cable

Camera

Fig. 3.1.2(a) Camera connection to the robot controller (SONY XC-56)

CAUTION
Turn off the power to the controller, before you connect a camera or camera
cable.

When SONY XC-56 is used, and another camera or multiplexer is connected

to the JRL7 port (iRVision function is used)
If another camera or multiplexer is connected to the JRL7 port on the main board, temporarily detach the
cable for the camera or multiplexer connected to the JRL7 port then connect the cable for the camera used
for each iRCalibration function.
Alternatively, connect the camera to the JRL7A port (port 1) of the multiplexer.

After using each iRCalibration function, return the connection to the previous state.

Tips
For controllers with 7DC2/02(8.20P/02) or later software: the iRCalibration
options can share the camera data with iRVision if iRVision is installed.
Refer to "3.5 USING iRVision CAMERA" for more details.

Whenthe iPendant USB camera is used

Connect the camera and the iPendant with an USB cable.

USB cable
(A connector)

USB cable
(micro B connector)

Fig. 3.1.2(b) USB port（an USB camera and an iPendant）

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

NOTE
If “Teach Pendant Disconnect Function” or “Teach Pendant Hot Swap Function”
is available, do not disconnect iPendant from the controller while snapping
images with the USB camera as displaying the live images.

3.2 DISPLAYING THE RUNTIME MONITOR

A camera image can be displayed on the runtime monitor screen of the iPendant.

Step
1 Press the MENU key, then select "UTILITIES" from the screen menu.
2 Press the F1 [TYPE] key, then select "iRCalibration" from the menu.
The UTILITIES iRCalibration screen is displayed. If a detail screen of an iRCalibration function is
displayed here, press the PREV key multiple times until the list screen of iRCalibration functions is
displayed.
3 Press the F2 (DISP_IMG) key.
The iPendant configuration displays "Double" pane mode, and the runtime monitor screen
(hereinafter referred to as the runtime monitor) is displayed on the right-hand screen.

UTILITIES iRCalibration iRVision Runtime Display

1. Vision Master Recovery

2. Vision TCP Set
3. All-Axis Vision Mastering

[ TYPE ] | DISP_IMG | DETAIL | |

3.3 ADJUSTING THE LENS

The lens should be adjusted for focus and brightness.
Step
1 Twist the lens into the camera body.
2 If the camera does not have proper focus and exposure setting, following the steps listed below:
i. Open the aperture and adjust the exposure time for proper brightness.
ii Adjust the focus to bring the target into focus.
iii Adjust the aperture and exposure time again. Refer to “3.4.4.1 Adjusting the Exposure Time”
for more details.
Repeat step ii and iii as needed.
NOTE
1 Some lenses have locking screws. Loosen them before adjusting the aperture
and the focus. Tighten the locking screws after the adjustment.
2 You need to secure the aperture ring, the focus ring, and the lens and camera
body after the adjustment. You can use locking screws, hot glue, tape, and so
on, to secure the camera and the lens.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

3.4 VISION DATA SETUP SCREEN

The Vision Data Setup Screen is for setting vision parameters and training the target for vision detection.
This operation is only required for Vision TCP Set, Vision Frame Set, Vision Shift and Vision Multi-Cal.
For Vision Mastering, Vision Master Recovery, Genkotsu Vision Mastering, Vision Axis Master,
All-Axis Vision Mastering, or Wrist-Axis Vision Mastering, the detection parameters are set in their own
menu screen.

Procedure 3-1 Displaying the Vision Data Setup Screen

Step
1 Press the FCTN key to display the FCTN menu.
2 Select "0 – NEXT –" twice, then select "VISION SETUP".

FUNCTION 3

1 REFRESH PANE

4 LIVE/SNAP

5 VISION SETUP
6

0 --- NEXT ---

3 The Vision Data Setup Screen is displayed.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Not Trained] [ ]
VSFT2 [Not Trained] [ ]
VSFT3 [Not Trained] [ ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT |

Ending the Vision Data Setup Screen

Press the PREV key to close the Vision Data Setup Screen, and display the previously displayed menu .

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

3.4.1 Menu Structure of Vision Data Setup Screen

Press [FCTN]. iRCalibration

Vision Data Setup List 1/8
Select “VISION SETUP”
Vision Data Status Comment
VSFT1 [Not Trained] [ ]
VSFT2 [Not Trained] [ ]
VSFT3 [Not Trained] [ ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
Vision Data Setup Screen - List Screen VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT |

F3 (DETAIL)

iRCalibration
Vision Data Setup Detail 1/4
Vision Data Setup Screen - Detail Screen
Vision Data： VSFT1
Status： Not Trained
1 Comment： [ ]
2 Camera Type： SONY XC-56
3 Model： <Detail>
4 Param： <Detail>

Move cursor to desired item

| |DISP_IMG| LIVE | |
with ↑ or ↓ key.

Select Item 1. Vision Data Setup Screen -Detail Screen

• Specify Comment

Select Item 2.
Vision Data Setup Screen -Detail Screen
• Choose camera type.
PREV key or
F4 [CHOICE]

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

Select Item 3 (ENTER key). Model Training Screen

• Set train window.
PREV key
• Train/display/test model.

iRCalibration
Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time: 33.33 ms

2 Multi Exposures: 3
3 Train Window Radius: 64 pix
4 Pos.(Up Down): 240 pix
5 Pos.(Left Right): 320 pix

STD. |DISP_IMG| LIVE | + | - |>

Select Item 4 (ENTER key).

Parameter Setting Screen
• Set parameters for detection
PREV key

Vision Data Setup Screen -

Detail Screen
iRCalibration
Vision Data Setup Parameter 1/7
PREV key Vision Data： VSFT1
Status： Not Trained
Camera Type： SONY XC-56
Vision Data Setup Screen -
1 Exposure Time: 33.33 ms
List Screen 2 Multi Exposures: 3
3 Distance Range: (+/-) 25.0 %
4 Rotation Angle: (+/-) 46.0 deg
PREV key 5 Tilt Angle: 35.0 deg
6 Score: 70.0
7 Contrast: 15.0
Finish STD. |DISP_IMG| LIVE | + | - |>

Fig. 3.4.1 Menu structure of the vision setup screen

3.4.2 List Screen

Press the FCTN key on the teach pendant, then select "VISION SETUP" from the menu. The Vision
Data Setup List Screen is displayed as shown below.

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Not Trained] [ ]
VSFT2 [Not Trained] [ ]
VSFT3 [Not Trained] [ ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT |

In the Vision Data Setup List Screen, users can check the status and comment for each vision data item.
However, the "Status" and "Comment" cannot be changed in this screen. You can modify the
"Comment" in the Detail Screen of the Vision Data Setup Screen. For details, refer to "3.4.3 Detail
Screen". The "Status" shows whether or not a model is trained for the vision data. The "Status" has
the following value:
• Not Trained
The model of a vision data is not trained.
• Trained
The model of a vision data is trained.
• Reserved
The data is already in use and iRCalibration should not use it. If "Status" is "Reserved", the Detail
Screen cannot be opened. In addition, you cannot copy or initialize this vision data.

Functions of the function keys

F2 (DISP_IMG) : The iPendant configuration displays "Double" pane mode.
Displays the runtime monitor screen on the right-hand screen.
F3 (DETAIL) : Displays the Detail Screen of the selected vision data.
F4 (COPY) : Copies the selected vision data.
F5 (INIT) : Initializes the selected vision data.

The procedure is detailed below.

Procedure 3-2 Display the Detail Screen of the Vision Data Setup Screen
Step
1 Move the cursor by using the ↑ key or the ↓ key to select a vision data from any one of the
vision data from VSFT1 to VSFT8.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Not Trained] [ ]
VSFT2 [Not Trained] [ ]
VSFT3 [Not Trained] [ ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT

2 Press the F3 (DETAIL) key.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

The Detail Screen of the selected vision data is displayed.

iRCalibration
Vision Data Setup Detail 1/4

Vision Data： VSFT1

Status： Not Trained
1 Comment： [ ]
2 Camera Type： SONY XC-56

3 Model： <Detail>
4 Param： <Detail>

| |DISP_IMG| LIVE | |

For details of the Detail Screen, refer to "3.4.3 Detail Screen".

Procedure 3-3 Copy vision data

Step
1 Using the ↑ key or the ↓ key to move cursor to the source vision data.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ] [VTCP ]
VSFT2 [Trained ] [ ]
VSFT3 [Not Trained] [ ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT

2 Press the F4 (COPY) key.

3 The Copy Screen of the Vision Data Setup Screen is displayed.

iRCalibration iRCalibration
Vision Data Setup Copy 1/1 Vision Data Setup Copy 1/1

--- Copy Vision Data --- --- Copy Vision Data ---
From: From:
VSFT1 VSFT1
To: To:
VSFT3
VSFT VSFT2

Copy OK？ Overwrite vision data VSFT2 OK？

| Yes | No | |[CHOICE]| | Yes | No | |[CHOICE]|

untrained vision data trained vision data

4 Press the F4 [CHOICE] key, and choose the destination vision data from VSFT1~VSFT8.

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION
5 Press the F1 (YES) key to copy vision data from the source to the destination. However, if the
source and destination has the same name, no copy is made.
Press the F2 (NO) key to return to the previous screen without copying the vision data.
6 The following is an example of copying vision data from VSFT1 to VSFT3.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ] [VTCP ]
VSFT2 [Trained ] [ ]
VSFT3 [Trained ] [VTCP ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT

Procedure 3-4 Initialize vision data

Step
1 Using the ↑ key or ↓ key to move the cursor to the vision data you want to initialize.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ] [VTCP ]
VSFT2 [Trained ] [ ]
VSFT3 [Trained ] [VTCP ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT

2 Press the F5 (INIT) key.

3 A message is displayed on the List Screen for confirmation.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ] [VTCP ]
VSFT2 [Trained ] [ ]
VSFT3 [Trained ] [VTCP ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]
Initialize VSFT3 OK?
| |DISP_IMG| | YES | NO

4 Press the F4 (YES) key to

• Set vision data to its default value.
• Clear the comment.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

• Delete the trained model.

Press the F5 (NO) key to cancel the initialization.
The following is the example in the case of the vision data VSFT3 is initialized.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ] [VTCP ]
VSFT2 [Trained ] [ ]
VSFT3 [Not Trained] [ ]
VSFT4 [Not Trained] [ ]
VSFT5 [Not Trained] [ ]
VSFT6 [Not Trained] [ ]
VSFT7 [Not Trained] [ ]
VSFT8 [Not Trained] [ ]

| |DISP_IMG| DETAIL | COPY | INIT

3.4.3 Detail Screen

Press the F3 (DETAIL) key on the Vision Data Setup List Screen to display the detail Screen shown
below. You can change the comment and select the camera type in this screen.

iRCalibration
Vision Data Setup Detail 1/4

Vision Data： VSFT1

Status： Not Trained
1 Comment： [ ]
2 Camera Type： SONY XC-56

3 Model： <Detail>
4 Param： <Detail>

| |DISP_IMG| LIVE | |

There are two function keys

F2 (DISP_IMG) : Turns the Teach Pendant in "Double" panes mode, and the runtime monitor
screen is displayed on the right pane.
F3 (LIVE) : Displays a live image.

Press the NEXT key ([>]) on the TP to see function keys in the next page, as it is shown below. Press
the NEXT key ([>]) again to return to previous page.

iRCalibration
Vision Data Setup Detail 1/4

Vision Data： VSFT1

Status： Not Trained
1 Comment： [ ]
2 Camera Type： SONY XC-56
3 Model： <Detail>
4 Param： <Detail>

| | SNAP | | | FIND

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION
There are two function keys in the next page:
F2 (SNAP) : Snaps an image.
F5 (FIND) : Finds the target mark according to the currently displayed parameters.
(A model needs to be trained beforehand.)

Vision Data
The name of the vision data.

Status
The vision data status. The status can be either “Trained” if the model has been trained, or “Not Trained”
if the model has not been trained before.

Comment
The vision data can have up to 10 characters as its comment.

Camera Type
The camera types that are used when the vision data is selected. The camera type can be selected from the
following list.
SONY XC-56
The default camera type. Choose this when using "SONY XC-56" camera that connects to JRL7
port on the main board or JRL7A port on the multiplexer.
BASLER acA640-20um
Choose this when BASLER iPendant USB camera ac640-20um is used.
KOWA SC36MF
Choose this when KOWA iPendant USB camera SC36MF is used.
iRVision Camera
Choose this camera type when using a camera that has been set up by the iRVision setup screen.
For details, refer to "3.5 USING iRVision CAMERA".

Model
Move the cursor to this item and press the ENTER key to display the Model Training Screen.

Param
Move the cursor to this item and press the ENTER key to display the Parameter Setting Screen.

Procedure 3-5 Choosing a camera type

To change the camera type, move the cursor to the Camera Type item and press the F4 [CHOICE] key.
Then choose a camera type from the pop-up menu.
The procedure is detailed below.

Step
1 Move the cursor to "2 Camera Type" by using the ↑ key or ↓ key.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

iRCalibration
Vision Data Setup Detail 1/4
Vision Data： VSFT1
Status： Not Trained
1 Comment： [ ]
2 Camera Type： SONY
SONYXC-56
XC-56
3 Model： <Detail>
4 Param： <Detail>

| |DISP_IMG| LIVE |[CHOICE]|

2 Press the F4 [CHOICE] key to display the pop-up menu of the camera type.

iRCalibration
Vision Data Setup Detail 1/4
Vision Data： 1 VSFT1
1 SONY XC-56
Status： Not Trained
2 BASLER acA640-20um
1 Comment： [ ]
3 2 Camera
KOWA Type：
SC36MF SONY XC-56
4 iRVision camera
5 3 Model： <Detail>
6 4 Param： <Detail>
7
8
| |DISP_IMG| LIVE |[CHOICE]|

3 Select the desired camera type from the displayed pop-up menu.

3.4.4 Model Training Screen

Select "3 Model" on the Detail Screen of the Vision Data Setup Screen by moving the cursor with the ↑
key or ↓ key. The Model Training Screen is displayed as shown below.

iRCalibration
Vision Data Setup Model 1/5
Vision Data： VSFT1
Status： Not Trained
Camera Type： SONY XC-56
1 Exposure Time: 33.33 ms
2 Multi Exposures: 3
3 Train Window Radius: 64 pix
4 Pos.(Up Down): 240 pix
5 Pos.(Left Right): 320 pix

STD. |DISP_IMG| LIVE | + | - |>

Vision Data
The item indicates the name of the vision data for model training.

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

Status
The item indicates the status of the vision data for parameter setting. In the case of the model of the
target mark is trained, "Trained" is displayed. In the case of the model of the target mark is not trained,
"Not Trained" is displayed.

Camera Type
The item indicates the camera type of the vision data. The type of the camera which is used when this
vision data is selected.

Other items
The Model Training Screen enables the items below to be set.

(1) Exposure Time:

Camera exposure time [msec].
(2) Multi Exposures:
The multi-exposure function snaps multiple images by changing exposure time and combines them
to generate an image with a wide dynamic range. Specify the number of images to be snapped.
As this number is larger, a wider dynamic range results, but a longer time is required for image
snapping.
(3) Train Window: Radius:
Size of the teach window (radius) [pix].
(4) Train Window: Pos (Up Down):
Center position of the training window (Vt) [pix].
(5) Train Window: Pos (Left Right):
Center position of the training window (Hz) [pix].

3.4.4.1 Adjusting the exposure time

This subsection describes the procedure to adjust the exposure time. Some image samples with different
exposure times are shown below.

Adjust the exposure time so that the image is not pure white but rather gray in the area around the target
mark. Then, adjust the exposure time so the white background and black mark can be clearly
distinguished.

Target mark image with Target mark image with Target mark image with
too short exposure time appropriate exposure time too long exposure time

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

NOTE
Before modifying exposure time, the focus and the aperture of lens should be
adjusted as followings.

Step 1: Press the F2 (DISP_IMG) key to display the Model Training Screen of
the Vision Data Setup Screen and the runtime monitor on the iPendant side by
side in dual panes mode.

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64 pix
4 Pos.(Up Down)： 240 pix
5 Pos.(Left Right)： 320 pix

| STD. |DISP_IMG| LIVE | + | - | >

Step 2: Press the F1 (STD.) key to set the Exposure Time to the default value.
Step 3: Press the F3 (LIVE) key to display the live camera image on the
runtime monitor.
Step 4: Adjust aperture ring on the lens to display the live camera image with
proper brightness.
Step 5: Open the aperture by aperture ring and adjust the Exposure Time to
display the live camera image with proper brightness.
Step 6: Adjust the focus ring so the target is clearly displayed in the live image. .
Step 7: Move aperture handle to the position adjusted by Step 4 and press the
F1 (STD.) key to reset the Exposure Time to the default value.

3.4.4.2 Operating the model training screen

Overview of model training
You can use function keys to specify the size and position of the training window, and display and train
the model. The runtime monitor screen displays a circular training window.

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Train Window
Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64
64 pix
4 Pos.(Up Down)： 240 pix
5 Pos.(Left Right)： 320 pix

| STD. |DISP_IMG| LIVE | + | - | >

| | SNAP | SHOW | TRAIN | FIND | >

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION
Specify the size and position of the circular training window with the function keys then enclose the
target and train the model.

Adjust the Exposure Time so the edges of the target can be detected. Next, adjust the radius and
position of the training window to enclose the target, and then press the function key to train the model
([TRAIN]). The target in the window is trained as a reference model for vision detection.

Adjusting the size and position of the training window

Use the function keys to adjust the size and position of the training window.

Adjusting the training window size

Select "3 Train Window: Radius" on the Model Training Screen by moving the cursor with the ↑ key
or ↓ key. The definition of these function keys is listed below.

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64 pix
4 Pos.(Up Down)： 240 pix
5 Pos.(Left Right)： 320 pix

| STD. |DISP_IMG| LIVE | + | - | >

F1 (STD.) : Resets the size of the window to the default.

F2 (DISP_IMG) : Changes the iPendant display to "Double" pane mode.
The runtime monitor screen is displayed in the right pane.
F3 (LIVE) : Displays a live image.
F4 (+) : Enlarges the training window.
F5 (-) : Reduces the training window.
(Pressing the F4 or the F5 while holding down the SHIFT key makes a greater value change.)

Adjusting the training window position

Select "4 : POS.(Up Down)" on the Model Training Screen by moving the cursor with the ↑ key or ↓
key. The definition of these function keys is listed below.

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64 pix
4 Pos.(Up Down)： 240 pix
5 Pos.(Left Right)： 320 pix

| STD. |DISP_IMG| LIVE | UP | DOWN | >

Use the function keys to move the window position, perform LIVE/SNAP operation, display, train, and
detect a model.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

F1 (STD.) : Resets the vertical position of the window to the default value.
F2 (DISP_IMG) : Changes the iPendant display to "Double" pane mode.
The runtime monitor screen is displayed in the right pane.
F3 (LIVE) : Displays a live image.
F4 (UP) : Moves the position of the training window in the upward direction
(minus direction of Vt).
F5 (DOWN) : Moves the position of the training window in the downward direction
(plus direction of Vt).

Select "5 : POS.(Left Right)" on the Model Training Screen by moving the cursor with the ↑ key or the
↓ key. The definition of the function keys is listed below.

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64 pix
4 Pos.(Up Down)： 240 pix
5 Pos.(Left Right)： 320 pix

| STD. |DISP_IMG| LIVE | LEFT | RIGHT | >

F1 (STD.) : Resets the horizontal position of the window to the default value.
F2 (DISP_IMG) : Changes iPendant configuration to "Double" pane mode.
Displays the runtime monitor screen on the right-hand screen.
F3 (LIVE) : Displays a live image.
F4 (LEFT) : Moves the position of the training window in the left direction
(minus direction of Hz).
F5 (RIGHT) : Moves the position of the training window in the right direction
(plus direction of Hz).

Use the function keys to enclose the target for the model training in the run time monitor screen, as shown
below:

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64 pix
4 Pos.(Up Down)： 300 pix
5 Pos.(Left Right)： 380 pix

STD. |DISP_IMG| LIVE | + | - | >

Training a model
Press the NEXT key ([>]) on the TP to access the next page of function keys.

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

iRCalibration iRVision Runtime Display

Vision Data Setup Model 1/5

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time： 33.33 ms

2 Multi Exposures： 3
3 Train Window Radius： 64 pix
4 Pos.(Up Down)： 300 pix
5 Pos.(Left Right)： 380 pix

| | SNAP | SHOW | TRAIN | FIND | >

F2 (SNAP) : Snaps an image.

F3 (SHOW) : Displays the currently trained model.
F4 (TRAIN) : Trains a model.
F5 (FIND) : Finds the target mark using the currently displayed parameters.

Press F4 (TRAIN) to train the target within the training window as the model.

NOTE
Follow the steps listed below to return to the screen before the vision data setup
screen was displayed.
1, Press the PREV key to return to the Detail Screen.
2, Press the PREV key to return to the List Screen.
3, Press the PREV key to exit the Vision Data Setup Screen and return to the
prior screen.

Example of a target mark

The following pictures depict recommended vision targets

Fig. 3.4.4.2 (a) Example 1 of a target Fig. 3.4.4.2 (b) Example 2 of a target

Fig. 3.4.4.2 (c) Example of setting a target mark

The target should have the following features:

• A flat detection surface.
• A contour that makes it easy to recognize the size of the target. (The circle in the above
examples.)

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

• A contour that makes it easy to recognize rotation within a 45 degree range. (The cross in the
above examples.)

Also, train the model with the surface of the target flat and lined up square to the camera.

Tips
The surface of the target should be flat and lined up square to the camera.
Visual accuracy is sufficient to line up the target flat to the camera.

3.4.5 Parameter Setting Screen

The following items can be set in the Parameter Setting Screen.

iRCalibration
Vision Data Setup Parameter 1/7

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56

1 Exposure Time: 33.33 ms

2 Multi Exposures: 3
3 Distance Range: (+/-) 25.0 %
4 Rotation Angle: (+/-) 46.0 deg
5 Tilt Angle: 35.0 deg
6 Score: 70.0
7 Contrast: 15.0
STD. |DISP_IMG| LIVE | + | - | >

Vision Data
This item indicates the name of the vision data for parameter setting.

Status
This item indicates the vision data status. The status can be either “Trained” if the model has been trained,
or “Not Trained”, if the model has not been trained before.

Camera Type
This item indicates the camera type used for the vision data.

Procedure 3-6 Displaying the Parameter Setting Screen

Step
1 Move the cursor to "4 Param" by using the ↑ key or ↓ key.

iRCalibration
Vision Data Setup Detail 1/4
Vision Data： VSFT1
Status： Not Trained
1 Comment： [ ]
2 Camera Type： SONY XC-56

3 Model： <Detail>
4 Param： <Detail>

|DISP_IMG| LIVE | |

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION
2 Press the ENTER key. The Parameter Setting Screen is displayed.

iRCalibration
Vision Data Setup Parameter 1/7

Vision Data： VSFT1

Status： Not Trained
Camera Type： SONY XC-56
1 Exposure Time: 33.33 ms
2 Multi Exposures: 3
3 Distance Range: (+/-) 25.0 %
4 Rotation Angle: (+/-) 46.0 deg
5 Tilt Angle: 35.0 deg
6 Score: 70.0
7 Contrast: 15.0
| STD. |DISP_IMG| LIVE | + | - | >

3.4.5.1 Detection parameters

You can set the following items in the Parameter Setting Screen.

(1) Exposure Time:

This item indicates the exposure time of the camera in msec.
(2) Multi Exposures:
The multi-exposure function snaps multiple images by changing exposure time and combines them
to generate an image with a wide dynamic range. With a large number in Multi Exposures, you get
an image with a wider dynamic range but it takes a longer time to snap the image.
(3) Distance Limit:
This item indicates the allowable percentage of change in distance, with respect to the distance
between the camera and target at model training time [%].
(4) Rotation Angle:
This item indicates the allowable angle of rotation of the target, with respect to the rotation of the
trained target in degrees.
(5) Tilt Angle:
This item indicates the allowable variation in inclination angle, relative to the angle between the
optical axis of the camera to the normal of the target plane at model training time [deg].
(6) Score:
This item indicates the score threshold for evaluating the degree of geometrical feature matching
between the detected target and the trained model.
(7) Contrast:
This item indicates the image contrast threshold.

3.4.5.2 Adjusting detection parameters

Move the cursor to an item you want to modify and use function keys to change the value of the item.

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

iRCalibration
Vision Data Setup Parameter 1/7
Vision Data： VSFT1
Status： Not Trained
Camera Type： SONY XC-56
1 Exposure Time: 33.33 ms
2 Multi Exposures: 3
3 Distance Range: (+/-) 25.0 %
4 Rotation Angle: (+/-) 46.0 deg
5 Tilt Angle: 35.0 deg
6 Score: 70.0
7 Contrast: 15.0
STD. |DISP_IMG| LIVE | + | - | >

Functions of the function keys

F1 (STD.) : Resets the value to the default value.
F2(DISP_IMG) : Changes the iPendant display to "Double" pane mode.
The runtime monitor screen is displayed in the right pane.
F3 (LIVE) : Displays a live image.
F4 (+) : Increases the value.
F5 (-) : Decreases the value.

NOTE
Pressing the F2 or the F3 key while holding down the SHIFT key changes the
value at a faster rate.

Pressing the NEXT key ([>]) on the TP shows the function keys in the next page, as shown below.
Pressing the NEXT key ([>]) again returns the function keys to the current page.

iRCalibration
Vision Data Setup Parameter 1/7
Vision Data： VSFT1
Status： Not Trained
Camera Type： SONY XC-56
1 Exposure Time: 33.33 ms
2 Multi Exposures: 3
3 Distance Range: (+/-) 25.0 %
4 Rotation Angle: (+/-) 46.0 deg
5 Tilt Angle: 35.0 deg
6 Score: 70.0
7 Contrast: 15.0
| | SNAP | | | FIND | >

Functions of the function keys

F2(SNAP) : Snaps an image.
F5 (FIND) : Finds the target using the currently vision parameters.
(A model needs to be trained beforehand.)

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B-83724EN/02 3.BASIC VISION FUNCTION OPERATION

NOTE
Follow the steps listed below to return to the screen before the vision data setup
screen was displayed.
1, Press the PREV key to return to the Detail Screen.
2, Press the PREV key to return to the List Screen.
3, Press the PREV key to exit the Vision Data Setup Screen and return to the
prior screen.

3.5 USING iRVision CAMERA

On the R-30iB／R-30iB Mate controller with 7DC2/02(8.20P/02) or later software, Vision Mastering,
Vision Master Recovery, Vision TCP Set, Vision Frame Set, Vision Shift and Vision Multi-Cal can share
the camera data created by the iRVision setup screen.
To share iRVision camera data with iRCalibration options, one of the following software option is
required.
• iRVision 2DV
• iRVision 3DL
• iRVision Bin Picking
• iRVision ImgToPnts
• iRPickTool / iRVision

iRVision should create the camera data before sharing it with iRCalibration options, To create iRVision
camera data , refer to "R-30iB / R-30iB Mate iRVision OPERATOR’S MANUAL (Reference)".
The iRVision camera data can be used in the measurement program generation screen of the Vision
Mastering and the Vision Master Recovery, and the Detail Screen of the Vision Data Setup Screen.

The following is an example of using iRVision camera data in the Detail Screen of the Vision Data Setup
menu.

1, In the Detail Screen of the Vision Data Setup menu, move the cursor to the item 2 "Camera Type",
and press the F4 [CHOICE].
Choose "iRVision Camera" in the popup menu.

iRCalibration
Vision Data Setup Detail 2/4
ビジョンデータ：1 VSFT1
1 状態：
SONY XC-56 Not Trained
2 1BASLER
コメント： acA640-20um [ ]
3 2KOWA
カメラのタイプ：
SC36MF iRVision Camera
iRVision Camera
4 iRVision Camera
5 3 モデル： <Detail>
6 4 パラメータ： <Detail>
7
8
|DISP_IMG| LIVE |[CHOICE]|

2, After chosen "iRVision Camera" for item 2, the camera data of iRVision can be selected by moving
the cursor done to next item:

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3.BASIC VISION FUNCTION OPERATION B-83724EN/02

iRCalibration
Vision Data Setup Detail 2/5
Vision Data： VSFT1
Status： Not Trained
1 Comment： [ ]
2 Camera Type： iRVision Camera
3
4 Model： <Detail>
5 Param： <Detail>

|DISP_IMG| LIVE |[CHOICE]|

3, Press the F4 [CHOICE] and a popup menu of iRVision camera data is displayed. (The vision data
"ANALOG", "MONOCR", and "COLOR" were created in the setup screen of iRVision)

iRCalibration
Vision Data Setup Detail 3/5

Vision Data： 1 VSFT1

1 ANALOG
ANALOG
Status： Not Trained
2 MONOCR
1 Comment： [ ]
3 2 Camera Type：
COLOR iRVision Camera
4 3
5 4 Model： <Detail>
6 5 Param： <Detail>
7
8
|DISP_IMG| LIVE |[CHOICE]|

4, Select the camera data. Now iRCalibration can do target training and target detection using the
iRVision camera data chosen in the item 3.

iRCalibration
Vision Data Setup Detail 1/5
Vision Data： VSFT1
Status： Not Trained
1 Comment： [ ]
2 Camera Type： iRVision Camera
3 ANALOG
4 Model： <Detail>
5 Param： <Detail>

|DISP_IMG| LIVE |[CHOICE]|

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3.6 SAVING AND READING VISION DATA

The iRCalibration vision data, VSFT1.VD to VSFT8.VD, ~XC56.VD, and so on can be stored as a file in
the file I/O devices such as memory card or USB drive.
You can select the file I/O devices in the file menu. For details of selecting the file I/O devices, refer to
"R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic Operation)".

Saving data
By executing an All files backup on the file menu, the iRCalibration vision data is saved to the file I/O
devices together with the programs and other data files.

Reading data
The saved iRCalibration vision data VSFT1.VD to VSFT8.VD, ~XC56.VD, and so on can be read back
to the controller using the File menu. Therefore, other controllers can share the iRCalibration's vision
data trained by one controller.

CAUTION
1. The R-30iB/R-30iB Mate controller’s vision data is incompatible with the vision
data of R-30iA/R-30iA Mate controller.
Do not load R-30iA/R-30iA Mate vision data to an R-30iB/R-30iB Mate
controller, and vice versa.
2. For R-30iB/R-30iB Mate controllers with later system software
(7DC2/02(8.20P/02) or later), reading vision data that was created by earlier
R-30iB controller (the series 7DC1(8.10P), 7DD0(8.13P) or 7DC2/01(8.20P/01)),
you need to do the following.
After reading the vision data, open the Detail Screen in the Vision Data Setup
menu, and change the "Camera Type" to the camera type that is to be used.

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4 VISION MASTERING
4.1 VISION MASTERING
What is Vision Mastering?
Vision Mastering automatically measures a fixed target by using a camera attached to the tool tip of a
robot while changing the posture of the robot, and adjusts J2 through J5 axis mastering data and J2
through J6 axis spring constants. The spring constants can be adjusted only when the Gravity
Compensation Function (used as an optional function) is enabled. This function can enhance robot
position precision through TCP setting, vision shifting in offline programming, general vision
compensation, and so forth.

Features of Vision Mastering

Enhanced precision by mastering parameters:
Mastering parameters are optimized according to the load on and the operation area of a robot in an actual
production line so that the robot can be placed in its absolute position more precisely.

Automated operations:
Operations other than camera installation are performed automatically. Manual operations are therefore
simplified, and the operation results do not depend on the skill of the operator.

TP programs used for Vision Mastering

Vision Mastering uses robot operation programs (hereinafter referred to as TP programs) to perform a
sequence of operations.
When Vision Mastering is performed, these TP programs are generated automatically. TP programs can
also be created beforehand with offline programming. This can further reduce work time on the factory
floor and accomplish work efficiently in a shorter time.
For details of TP programs, please refer to "4.7.1 TP PROGRAM" in this manual.

4.2 SYSTEM CONFIGURATION

4.2.1 Overall Configuration

The Vision Mastering system consists of a robot controller, an iPendant, a camera, lens, and a target.

Camera Cable
Camera

iPendant Robot controller

Lens

Target

Fig. 4.2.1 System configuration of Vision Mastering

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B-83724EN/02 4.VISION MASTERING

NOTE
The customer is to prepare hardware such as a camera with lens, a target, a jig
for holding the camera, and a jig for holding the target.

Tips
For controller with 7DC2/02(8.20P/02) or later software. Vision Mastering can
share camera data with iRVision if iRvision is installed. You can use cameras
and lenses that are not listed in “2.1 COMPONENTS” when share camera data
with iRVision. For more details, please refer to "3.5 USING iRVision CAMERA".

4.2.2 Outline of the Vision Mastering Procedure

Installing the camera and the target

Displaying the Vision Mastering

Setting the setup items

Generating a measurement program

Choose Camera type (7DC2/02 or later)

Teaching a reference pose

Teaching the reference pose of the measuring program.
(The reference pose is also used as a start position
when measuring the camera position.)

Measuring the camera position

Setting swing angles of measuring poses

Generating a measurement program

Executing the measurement program

Updating mastering data

Calculating and checking mastering data

Updating mastering data

Viewing and saving mastering results

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4.2.3 Features of the Vision Mastering Function, Including

Adjustment of Gravity Compensation Parameters
The Gravity Compensation function calculates the amount of deflection caused by the weight on the arm.
This may include the weight of a device attached to the arm (such as a tool or workpiece attached to the
hand of the robot) or the arm's own weight. It compensates the motor position for the weight, thereby
improving the absolute position accuracy.
Gravity Compensation parameters in addition to the zero position of robot axes can be adjusted by using
Vision Mastering. By adjusting the Gravity Compensation parameters, the robot can provide higher
absolute position accuracy when it uses a heavy tool or workpiece.

CAUTION
The Gravity Compensation function is an option. You have to set the mass and
center of gravity of the payload accurately for this option to work. You can use
another option, the Payload Identification option, to identify the mass and center
of the gravity of the payload. For details on the Gravity Compensation and
Payload Identification functions, please refer to "R-30iB/R-30iB Mate
CONTROLLER Optional Function OPERATOR’S MANUAL".

4.3 MEASURING POSES FOR VISION MASTERING

4.3.1 Outline of Measuring Poses

Standoff

Fig. 4.3.1 Measuring Poses

Vision Mastering uses 27 measuring poses. These measuring poses are automatically generated based
on a reference pose (initial value).
The measuring poses are generated as detailed below:
• A total of 27 measuring poses are generated by combining three different swing angles, (a positive
maximum swing angle, negative maximum swing angle, and 0), about each axis of orientation (W, P,
R) of the reference pose. (Thus 3 times 3 times 3 = 27)
• Each robot measuring pose is adjusted so that the standoff (the distance between the camera and
target) remains constant.

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B-83724EN/02 4.VISION MASTERING

4.3.2 Determining the Reference Pose

Prioritize which areas of a workcell require the best accuracy. Areas in which the robot travels through
to reach a work area are probably low priority for accurate positioning. Areas in which the robot is
processing a part are probably high priority. A pick region may require higher accuracy then a drop off
area. If there are multiple high priority areas choose a reference pose central to the high priority areas.

Fig. 4.3.2(a) Central, actual work pose of the robot

As the robot is used to cover a wide work area, in general, it may be difficult to determine the central pose
of the robot. In such cases, focus on an area which requires the highest position accuracy.
If the robot used in its actual pose can interfere with the surroundings, try the following measures:

1 Change only the value of the J1 axis with respect to the reference pose of the robot, move the robot
hand section to a place where it can move more easily, then determine the current pose as the new
reference pose.

J1

Target

Fig. 4.3.2(b) Adjusting the reference pose by rotation of the J1 axis

2 Move the robot hand section to a place where it can move more easily without changing its pose
with respect to the reference pose of the robot, then determine the current pose as the new reference
pose.
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4.VISION MASTERING B-83724EN/02

Target

Fig. 4.3.2(c) Adjusting the reference pose without changing the wrist pose

CAUTION
When the wrist flange surface of the robot faces laterally, generated multiple
measuring poses may cross singularity in some reference poses. In that case,
adjust the robot pose so that the reference pose does not approach singularity.

4.3.3 Examples of Reference Pose

Reference pose example in which the robot can operate relatively easily
Setting the reference pose as shown below results in a large maximum swing angle for the measuring
pose.
1 The J2-axis and J4-axis angles are around 0 degree.
2 The J3-axis angle is negative.
3 The wrist flange surface of the robot faces down.

Fig. 4.3.3(a) Reference pose in which the robot can operate relatively easily

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B-83724EN/02 4.VISION MASTERING

Reference pose example advantageous to adjust Gravity Compensation

parameters
Setting the reference pose as shown below results in calculation of Gravity Compensation parameters at
relatively high accuracy.
1 The wrist flange surface of the robot faces horizontally.
2 The J2-axis angle is about 30 degrees or more.

Fig. 4.3.3(b) Reference pose advantageous to adjust Gravity Compensation parameters

4.4 INSTALLATION OF THE CAMERA AND TARGET

4.4.1 Installing the Camera

Secure the camera to the tool tip of the robot.
NOTE
Although there are no installation precision requirements imposed on the camera
and target, please try to fix them securely so that they do not move during
measurement.

Mount the camera such that the camera lens center line is offset at least 100 mm from the center line of
axis six. The recommended offset is at least 100 mm and the recommended standoff (distance between the
camera and target) is 400 mm.
Offset is more than 100mm
Standoff is more than 400mm

Standoff

Visual TCP Offset

Fig. 4.4.1 (a) Installing the camera

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4.VISION MASTERING B-83724EN/02

Keep the camera and the tool away from the base section of the robot and tilt the J3 arm downward as
shown below, so that the wrist section hardly causes interference.

Hardly Interfere

Fig. 4.4.1 (b) Wrist pose in which the camera hardly interferes with the robot

If the camera or tool is close to the base section of the robot or if the J3 arm is tilted upward in contrast,
the wrist section is liable to cause interference. In that case, the swing angle of measuring pose must be
reduced, involving a risk of degrading mastering results.

Interference

Fig. 4.4.1 (c) Wrist pose in which the camera is liable to interfere with the robot

Check these examples for reference to appropriately install the camera and select the reference pose of the
robot.

NOTE
The reference pose in which the camera is close to the base section of the robot,
as shown in Fig4.4.1(d), can improve the quality of the set of measuring poses
which are generated by using the reference pose.

Fig. 4.4.1 (d) Wrist pose in which the camera is close to the base section

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4.4.2 Installing the Target

Place the target at a position where it can be installed in a stable condition.

Camera

Lens

Target

Fig. 4.4.2 Installation of target

Installing the calibration grid

Install the target such that the X-axis direction (three large circle of the backwards "L") of the calibration
grid (See Subsection 4.8.1, "Calibration Grid") points upward in the camera image. (For displaying the
image, please refer to "3.2 DISPLAYING THE RUNTIME MONITOR".)
Install the calibration grid with its face approximately perpendicular to the optical axis of the camera.

NOTE
The calibration grid should be placed near the center of the field of view.
Roughly placing the calibration in the center of the field of view is sufficient, its
placement doesn’t require a high level of precision.

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4.5 OPERATION OF VISION MASTERING WITH THE GRAVITY

COMPENSATION FUNCTION UNAVAILABLE
This section describes the procedure for Vision Mastering when the Gravity Compensation Function is
unavailable.

4.5.1 Outline of the Operation Procedure

Installing the camera and the target

Connect the camera to the controller or the iPendant.

Connect the camera to the con troller or the iPendant with the camera cable.

Install the camera and the target

Mount the camera on the robots end of arm tooling, and secure the target to a
fixed surface.

Displaying the Vision Mastering screen

To display the Vision Mastering screen, select ”iRCalibration” fro m the

“UTILITIES” menu, and then select “Vision Mastering” from the
“iRCalibration” menu.
For d etails, refer to Subsection 4.5.2, “Displaying the Vision Mastering Screen”.

Setup on the Vision Mastering screen

Setting robot group number and work tool frame number.

For d etails, refer to Subsection 4.5.3, “Setup on the Vision Masterin g Screen”.

Generating a measuring program

Display the measurement program generation screen from the Vision mastering
screen.
For d etails, refer to Subsection 4.5.4, “Generating a Measurement Program”.

Choos e camera type (7DC2/02 or later)

Setting the focal distanc e of lens, the grid

spacing of the calibration grid, the
exposure time of vision detection

Teaching the reference pose

Teaching the reference pose of the measuring program.

(The reference pose is also used as a start position when measuring the camera
position.)

Measuring the camera position

Measuring the camera position and the target position that are used for
generating the TP program.

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B-83724EN/02 4.VISION MASTERING

Setting s wing angles of measuring poses

Set swing angles which are used for generating the measurement program.

Generating measurement program

Confirm the Evaluation Index of generated measurement program is smaller

than 4.2. If the Evaluation Index is bigger than 4.2, increase the swing angles
and re-generate the measurement program. If the Evaluation Index is bigger
than 4.2 even when swing angles are equal to (45, 45, 45), increase the distance
between the camera and the target and re-generate the measurement program.

Executing the measurement program

Execute the measurement program for Vision Mastering.

For details, refer to Subsection 4.5.5, “Executing the Measurement Program”.

Executing the measurement program

Updating the mastering data

Update the mastering data.

For details, refer to Subsection 4.5.6, “Upd ating Masterin g Data”.

Calculating and check ing the mastering data

Updating the mastering data

Viewing and saving the mastering results

View the mastering results.

Output the mastering results as a log file named as VCMT_LOG.TX.
For d etails, refer to Subsection 4.5.7, ”Viewing and Saving Mastering Results”.

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4.5.2 Displaying the Vision Mastering Screen

Procedure 4-1 Displaying the Vision Mastering screen
Step
1 Press the MENU key.
2 Select "UTILITIES".
3 Press the F1［TYPE］.
4 Select "iRCalibration".

The following screen appears on the teach pendant.

The available item list of iRCalibration functions is displayed in this screen. The items to be
displayed are different depend on the states of options.

UTILITIES iRCalibration
1/2
1 Vision Mastering
2 Vision Master Recovery

[ TYPE ]DISP_IMG DETAIL

5 Move the cursor to "Vision Mastering", then press the F3 (DETAIL) or the ENTER key.
The following "Vision Mastering" screen appears on teach pendant.

UTILITIES iRCalibration
Vision Mastering 1/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Not Done)
4 Run: VMAST11 (Not Done)
5 Update Master CT (Not Done)
6 View Result

[ TYPE ]DISP_IMG

Select and execute each item on the screen sequentially from the top so that the mastering parameters can
be adjusted.

4.5.3 Setup on Vision Mastering Screen

There are two setup items on Vision Mastering screen
• Robot Group Number
• Work Tool Frame Number

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B-83724EN/02 4.VISION MASTERING

Set Robot Group Number

Move the cursor to "Robot Group" on the Vision Mastering screen, then enter the group number of the
robot to be calibrated.

UTILITIES iRCalibration
Vision Mastering 1/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Not Done)
4 Run: VMAST11 (Not Done)
5 Update Master CT (Not Done)
6 View Result

[ TYPE ]DISP_IMG

Set Work Tool Frame Number

Move the cursor to "Work Tool Frame Number" on the Vision Mastering screen, and then enter the tool
frame number to be used for vision measurement.

UTILITIES iRCalibration
Vision Mastering 2/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Not Done)
4 Run: VMAST11 (Not Done)
5 Update Master CT (Not Done)
6 View Result

[ TYPE ]DISP_IMG

4.5.4 Generating a Measurement Program

Procedure 4-2 Generating a measurement program
Step
1 Move the cursor to "Create Program" on the Vision Mastering screen, then press the F4 (SELECT)
or the ENTER key.

UTILITIES iRCalibration
Vision Mastering 3/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Not Done)
4 Run: VMAST11 (Not Done)
5 Update Master CT (Not Done)
6 View Result

[ TYPE ]DISP_IMG SELECT

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4.VISION MASTERING B-83724EN/02

The teach pendant displays a measurement program generation screen as shown below.

UTILITIES iRCalibration
Vision Mastering: Create Program 1/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
[ TYPE ] [CHOICE]

2 Set the camera type. (7DC2/02 or later)

"SONY XC-56", "BASLER acA640-20um", "KOWA SC36MF", or "iRVision camera" can be
selected as the camera type.
If "SONY XC-56" is connected to JRL7 port of the main board or JRL7A port of the multiplexer,
select "SONY XC-56" as the camera type.
If the camera is set up in the iRVision setup screen, change camera type from "SONY XC-56" to
"iRVision Camera" and then choose iRVision camera data below item of "Camera Type".
For details, please refer to "3.5 USING iRVision CAMERA".

UTILITIES iRCalibration
Vision Mastering: Create Program 1/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
[ TYPE ] [CHOICE]

3 Set the focal distance (mm) of the camera lens.

UTILITIES iRCalibration
Vision Mastering: Create Program 2/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
[ TYPE ]DISP_IMG

4 Set the grid spacing (mm) of the calibration grid

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B-83724EN/02 4.VISION MASTERING

UTILITIES iRCalibration
Vision Mastering: Create Program 3/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
[ TYPE ]DISP_IMG

5 Set the exposure time (ms) for vision measurement.

UTILITIES iRCalibration
Vision Mastering: Create Program 4/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
[ TYPE ] TIME+ TIME- LIVE FIND

Refer to Subsection 3.2 "DISPLAYING THE RUNTIME MONITOR" so that an image and the
Generating Measurement Program screen can be seen simultaneously. The following explains an
example of displaying an image and the Generating Measurement Program screen simultaneously on
iPendant. The display on the teach pendant is shown below.

UTILITIES iRCalibration iRVision Runtime Display

Vision Mastering: Create Program 4/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] TIME+ TIME- LIVE FIND

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4.VISION MASTERING B-83724EN/02

Set Exposure Time on this screen by using function keys.

Function key functions
F2 (TIME+): Increases the "Exposure Time" value.
F3 (TIME-): Decreases the "Exposure Time" value.
F4 (LIVE): Displays the live image.
F5 (FIND): Detects the calibration grid. If the detection has succeeded, a + mark is displayed
on the dot detected. If the detection has failed, an error message is displayed.

NOTE
When the F2 or the F3 is pressed while holding down the SHIFT key, the rate of
the value change becomes larger.

NOTE
Vision mastering uses the exposure time set in this screen.
The exposure time set in "Parameter Setting Screen" or "Model Training Screen"
of Vision Data Setup Screen does not applied to Vision Mastering.

Appropriate exposure time:

Adjust the exposure time so that the image doesn’t become pure white but rather gray in the lightest
area of on the calibration grid. Also, adjust the exposure time such that the white background and
black circles can be clearly distinguished.
Some image samples with different exposure time are shown below.

Calibration grid image with Calibration grid image with Calibration grid image with
too short exposure time appropriate exposure time too long exposure time

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B-83724EN/02 4.VISION MASTERING
6 Move the robot and teach the reference pose so that the origin of the target is near the center of the
camera image.

UTILITIES iRCalibration iRVision Runtime Display

Vision Mastering: Create Program 5/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] MOVE_TO RECORD

Move the cursor to "Reference Pose" on the measurement program generation screen, and then press
the SHIFT key and the F5 (RECORD) together.
The current position is stored as reference pose. The display on the teach pendant is shown below.

UTILITIES iRCalibration iRVision Runtime Display

Vision Mastering: Create Program 5/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] MOVE_TO RECORD

NOTE
You can move the robot to the “Reference Pose” if the position is “RECORDED”
by pressing F4(MOVE TO) while holding down the SHIFT key.

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4.VISION MASTERING B-83724EN/02

7 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, and then measure
the camera position. If T1 mode is selected, the override can be improved more than 30%.
The camera position is measured while the robot automatically moves into multiple poses, with the
reference pose as a measurement start pose, in which the pose is changed by several centimeters in
the directions orthogonal to X, Y, and Z and by about 15 degrees in the pose directions of W, P, and
R. The camera position and calibration grid position are calculated based on the results of the
vision measurement.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 6/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] SELECT

Move the cursor to "Measure Camera Position", then press the SHIFT key and the F4(SELECT)
together.
The camera position will be measured. During measurement, the teach pendant displays the
following screen.

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B-83724EN/02 4.VISION MASTERING

VCMTVTCP: 5/8 T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 6/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9
Camera position is being measured

[ TYPE ]

NOTE
1 If the camera attachment position or the calibration grid position is changed,
measure the camera position again.
2 Keep pressing the SHIFT key during the measurement. For 7DC3/09
(V8.30P/09) or earlier software, if pressing the SHIFT key is interrupted,
resuming the measurement makes it restart from the beginning. For 7DC3/10
(V8.30P/10) or later software, when you resume the measurement after the
interruption, if a part of the measurement has been completed, a confirmation
message to select “RESUME” or “RESTART” is displayed. Then, if “RESUME” is
selected, the measurement is resumed. If “RESTART” is selected, the
measurement is restarted from the beginning. If the camera attachment position
or the calibration grid position is changed, select "RESTART".
3 An attempt to perform camera position measurement during execution of
another program causes an error with the following error message displayed:
"INTP-313 (Z_VCLIB2,384) Motion statement failed, PROG-040 Already locked
by other task"
In this case, select "ABORT (ALL)" on the FCTN menu to terminate the program.

When the measurement is finished, the display on the teach pendant screen is as follows:
• The "Measure Camera Position" status is "Done".
• A message "Camera position is measured" appears in the prompt window.
• The result of the measurement is displayed.
Measurement result:
• Camera Position: Position of visual TCP
• Calibration Grid Position: Origin position of calibration grid

- 47 -
4.VISION MASTERING B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 6/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9
Camera position is measured

[ TYPE ] SELECT

8 Set the swing angles W, P, and R of measuring poses for Vision Mastering. For details on
measuring poses, please refer to "4.3.1 Outline of Measuring Poses".

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 7/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] DISP_IMG

For Vision Mastering with only the mastering parameters adjusted

The recommended range for "Swing Angle W/P" is 20 to 45 degrees.
The recommended range for "Swing Angle R" is 30 to 45 degrees.

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B-83724EN/02 4.VISION MASTERING

NOTE
Increasing the swing angle improves the accuracy of adjustment of mastering
parameters but requires a wider operating range.

NOTE
If swing angle W or P exceeds 45 degrees, it may be impossible to perform
vision measurement. Do not allow swing angle W or P to exceed 45 degrees.

9 Generate a measurement program.

Move the cursor to "Create Program", then press the F4 (SELECT) or the ENTER key.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 10/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] SELECT

Upon completion of the generation of the measurement program, the screen on the teach pendant
changes as shown below.
• The "Create Program" status becomes "Done".
• The message "Program is created" is displayed.

- 49 -
4.VISION MASTERING B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 10/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Done )
Evaluation Index of Program: 4.9
Program is created

[ TYPE ] SELECT

When robot group is 1, TP program VMAST11 and VMDATA11 are generated. The first number
following VMAST and VMDATA indicates a robot group; the second one indicates a payload
number.

10 Check the evaluation index and, if it is greater than 4.2, start at Step 8 over again and increase the
values of Swing Angle. If the Evaluation Index still is not improved, teach the reference pose to set
the camera away from the target, and start at Step 6 again.

NOTE
Smaller value of Evaluation Index of Program means higher accuracy of Vision
Mastering result may be achieved by using this program.

If a measurement program is generated with one already existing, the teach pendant displays the
following message.

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B-83724EN/02 4.VISION MASTERING

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering: Create Program 10/10
Robot Group[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8

7 Swing Angle W: 45.0 deg

8 P: 45.0 deg
9 R: 45.0 deg
10 Create Program (Done )
Evaluation Index of Program: 4.1
OK to Delete & Re-generate program?

[ TYPE ] YES NO

If the F4 (YES) is selected, a new measurement program is generated.

If the F5 (NO) is selected, a new measurement program is not generated, but the Evaluation Index of
an existing program is recalculated.

11 When generating is finished, select the PREV key to return to Vision Mastering screen.

4.5.5 Executing the Measurement Program

Procedure 4-3 Executing the measurement program
Condition
• Make sure that the "Create Program" status is "Done".

Step
1 Move the cursor to "RUN", then press the F4 (SELECT) or the ENTER key.

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4.VISION MASTERING B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering 4/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Done )
4 Run: VMAST11 (Not Done)
5 Update Master CT (Not Done)
6 View Result

[ TYPE ] DISP_IMG SELECT

The Edit Screen of Measurement Program is displayed.

T2 30 %
VMAST11 iRVision Runtime Display
1/113
1: UTOOL_NUM=9
2: UFRAME_NUM=0
3:
4:J @P[28] 30% FINE
5:
6:L P[1] 500mm/sec FINE
7: CALL VCMT_VT(1,1)
8:L @P[28] 500mm/sec CNT0
9:
10:L P[2] 500mm/sec FINE
11: CALL VCMT_VT(2,1)
12:L @P[28] 500mm/sec CNT0
13:
14:L P[3] 500mm/sec FINE
15: CALL VCMT_VT(3,1)
16:L @P[28] 500mm/sec CNT0
17:
18:L P[4] 500mm/sec FINE
19: CALL VCMT_VT(4,1)
20:L @P[28] 500mm/sec CNT0
21:

POINT TOUCHUP >

2 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, then run the
program displayed. If T1 mode is selected, the override can be improved more than 30%.

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B-83724EN/02 4.VISION MASTERING

NOTE
If the robot cannot move to any of positions [1] to [27] during execution of the
measurement program, make sure that the calibration grid resides within the
field of view of the camera, then re-teach a position to which the robot can move,
and continue the measurement from the re-taught position.

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “4.7.1 TP Program”.
For 7DC3/10 (V8.30P/10) or later software, when the measurement is
interrupted by the release of the SHIFT key, the occurrence of an alarm or other
reasons, re-execute the TP program after moving the cursor to the first line. If a
part of the measurement has been completed, a message “Press 0 (restart) or 9
(resume)” appears. Press the 0 key to restart the measurement from the
beginning or the 9 key to resume the measurement.

NOTE
If the camera attachment position or the calibration grid position is changed,
measure the camera position and generate the measurement program in “4.5.4
Generating a Measurement Program” again.

3 When the measurement has been completed, please refer to "4.5.2 Displaying the Vision Mastering
Screen" to display the Vision Mastering screen.

4.5.6 Updating Mastering Data

Procedure 4-4 Updating mastering data
Condition
• Make sure that the "Run" status of the measurement program for the selected payload is "Done".

Step
1 Move the cursor to "Update Master CT", then press the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Vision Mastering 5/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Done )
4 Run: VMAST11 (Done )
5 Update Master CT (Not Done)
6 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the mastering data update screen as shown below.

- 53 -
4.VISION MASTERING B-83724EN/02

UTILITIES iRCalibration
Vision Mastering: Update Master CT
Robot Group[ 1]
Compensation Angles:
J1: 0.000 J2: -0.025
J3: 0.048 J4: -0.003
J5: -0.020 J6: 0.000

Evaluation Index of Program: 3.3

Mean Error of Calibration: .1
Max Error of Calibration: .3
[ TYPE ] UPDATE

NOTE
Mastering parameters are not updated at this point.

2 Confirm the items displayed. If there is no problem, press the F3 (UPDATE) while holding down
the SHIFT key to update mastering data.

Display items on Updating Mastering Data screen

Compensation Angles
The compensation angles for the angular displacement shifted from the zero position for each
rotation axis [degree].

Evaluation Index of Program

Evaluation Index of the actual measurement poses.

Mean Error of Calibration

The mean value (calculated value) [mm] of visual TCP positions in 27 measurement poses after
calibration.

Max Error of Calibration

The maximum value (calculated value) [mm] of visual TCP positions in 27 measurement poses after
calibration.

Confirmation
• Confirm that Compensation Angles is 1° or less.
If Compensation Angles is exceeding 1°, update mastering data and run the measurement program
again, then confirm that the value of Compensation Angles displayed on Updating Mastering Data
screen becomes smaller.
• If you do not adjust Gravity Compensation parameters, check whether the evaluation index is 4.2 or
less.
If Evaluation Index is exceeding 4.2, there is a possibility that the calculation error of mastering
parameters is large. Re-generate the measurement program with the maximum swing angle increased
on the "Create Program" screen, then re-execute the program.
• Confirm the Max Error of Calibration.
The approximate maximum error of calibration is as follows:
• When the transportable mass of the robot is 100 kg or less, "Max Error of Calibration" is 1.5
mm or less.
• When the transportable mass of the robot is 200 kg or less, "Max Error of Calibration" is 2 mm
or less.

If the maximum error of calibration is considerably larger than the above value, possible causes are that
the lens or camera is not secured, the lens is out of focus, and that the target is not secured. Check these
causes again.
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B-83724EN/02 4.VISION MASTERING

NOTE
With a heavy payload, "Max Error of Calibration" can be larger than the above
approximate value. In this case, update mastering data, run the measurement
program again, and confirm "Compensation Angles" and "Max Error of
Calibration" on Updating Mastering Data screen again. Even though "Max Error
of Calibration" has not changed, if "Compensation Angles" becomes smaller, the
result of Vision Mastering is fine.

3 After updating the mastering data, set the reference position for Quick Mastering again, preparing
for future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For
details of Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

4.5.7 Viewing and Saving Mastering Results

Procedure 4-5 Viewing and saving mastering results
Step
1 Move the cursor to "View Result", then press the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Vision Mastering 6/6
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Create Program (Done )
4 Run: VMAST11 (Done )
5 Update Master CT (Done )
6 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the mastering result display screen as shown below.

UTILITIES iRCalibration
Vision Mastering: View Result Page 1
Robot Group[ 1]
Compensation Angles:
J1: 0.000 J2: -0.025
J3: 0.048 J4: -0.003
J5: -0.020 J6: 0.000

Evaluation Index of Program: 3.3

Mean Error of Calibration: .1
Max Error of Calibration: .3
[ TYPE ] NEXTPAGE OUTPUT

Function key
F4 (NEXTPAGE): Go to the next page.
F5 (OUTPUT): Save VCMT_LOG.TXT, the Vision Mastering results logging file to the file I/O
devices (a memory card, an USB memory, etc). For details of selecting the file
I/O devices in the file menu, please refer to "R-30iB / R-30iB Mate
OPERATOR’S MANUAL(Basic Operation)".

- 55 -
4.VISION MASTERING B-83724EN/02

NOTE
If VCMT_LOG.TXT already exists, the new results are appended to the current
contents.

4.6 OPERATION OF VISION MASTERING WITH THE GRAVITY

COMPENSATION FUNCTION ENABLED
This section describes the procedure for Vision Mastering with the Gravity Compensation function
enabled.

4.6.1 Vision Mastering Functions, Including Adjustment of Gravity

Compensation Parameters
Although this is not always appropriate as the robot is used in various conditions, favorable positioning
accuracy can be obtained by executing Vision Mastering with Gravity Compensation parameters adjusted
generally in the following conditions:

• The transportable mass of the robot exceeds 100 kg.

• The payload attached to the hand section exceeds 1/2 of the transportable mass of the robot.
• If an object that is mounted to the J3 mounting surface has a mass that is sufficiently lighter than the
payload mass of the hand section of the robot.
In practice, it is advisable for you to examine the application of Vision Mastering according to robot
operating conditions to check its effects before starting a robot system.
When two or more types of payloads are applied to the hand section of the robot or the robot work range
is relatively wide, increasing the number (described later) of payloads used by Vision Mastering is apt to
yield desired results.

NOTE
If the adjusted Gravity Compensation parameters do not improve positioning
accuracy, you need to reset the Gravity Compensation parameters back to their
default values and redo the Vision Master again.

The default value is 0 for $GRAVC_GRP[n].$MODE_SW and

GRAVC_GRP[n].$SPCONS[1-9]. The n denotes the group number. You need to
recycle power after setting these parameters.

NOTE
With just one light payload, the measurement and update of Vision Mastering
should be repeated until compensation results become small. For details,
please refer to "4.6.7, Updating Mastering Data".

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B-83724EN/02 4.VISION MASTERING

4.6.2 Outline of the Vision Mastering Procedure

Installing the camera and the target

Connect the camera to the controller or the iPendant

Connect the camera to the controller or the iPendant with the camera cable.

Install the camera and the target

Mount the camera on the robot’s end of arm tooling, and secure the target to a
fixed surface.

Displaying the Vision Mastering screen

To display the Vision Mastering screen, select ”iRCalibration” from the

“UTILITIES” menu, and then select “Vision Mastering” from the
“iRCalibration” menu.
For details, refer to Subsection 4.6.3, “Displaying the Vision Mastering Screen”.

Setup on the Vision Mastering screen

Setting robot group number and work tool frame number.

Select payload and set PAYLOAD number, Camera position.
For details, refer to Subsection 4.6.4, “Setup on the Vision Mastering Screen”.

Generating a measuring program

Display the measurement program generation screen from the Vision mastering
screen.
For details, refer to Subsection 4.6.5, “Generating a measurement program”.

Choose camera type (7DC2/02 or later)

Setting the focal distance of the lens, the

grid spacing of the calibration grid, and
the exposure time of vision detection

Teaching the reference pose

Teaching the reference pose of the measuring program.

(The reference pose is also used as a start position when measuring the camera
position)

Measuring the camera position

Measuring the camera position and the target position that are used for
generating the TP program.

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4.VISION MASTERING B-83724EN/02

Setting s wing angles of measuring poses

Set swing angles which are used for generating the measurement program.

Generating a measurement program

Confirm that the Evaluation Ind ex of the generated measurement program is

smaller than 4.2. If the Evaluation Index is big ger than 4.2, increase the swing
angles and re-generate the measurement pro gram. If the Evaluation Index is
bigger than 4.2 even when swing angles are equal to (45, 45, 45), increase the
distance between the camera and the target and re-generate the measurement
program.

Executing the measurement program

Execute the measurement program for Vision Mastering.

For details, refer to Subsection 4.6.6, “Executing the Measurement Program”.

Executing the measurement program

Updating the mastering data

Update the mastering data.

For details, refer to Subsection 4.6.7, “Upd ating Masterin g Data”.

Calculating and check ing the mastering data

Select if adjust Gravity Compensation parameters apply, and calculate the

mastering data.

Updating the mastering data

Viewing and saving the mastering results

View the mastering results.

Output the mastering results as a log file named as VCMT_LOG.TX.
For d etails, refer to Subsection 4.6.8, ”Viewing and Saving Mastering Results”.

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B-83724EN/02 4.VISION MASTERING

4.6.3 Displaying the Vision Mastering Screen

Procedure 4-6 Displaying the Vision Mastering screen
Step
1 Press the MENU key.
2 Select "UTILITIES".
3 Press the F1 (TYPE).
4 Select "iRCalibration".

The following screen appears on the teach pendant.

An available item list of iRCalibration functions is displayed in this screen. The items to be
displayed are different depending on the states of options.

UTILITIES iRCalibration
1/2
1 Vision Mastering
2 Vision Master Recovery

[ TYPE ]DISP_IMG DETAIL

5 Move the cursor to "Vision Mastering", then press the F3 (DETAIL) or the ENTER key.
The following "Vision Mastering" screen appears on teach pendant.

UTILITIES iRCalibration
Vision Mastering with Gravity Com 1/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: FALSE
4 PAYLOAD number: 0
5 Camera Position(1-3): 0
6 Create Program (--------)
7 Run: VMAST11 (--------)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ]DISP_IMG

Select and execute each item on the screen sequentially from the top so that the mastering parameters can
be adjusted.

NOTE
If Gravity Compensation is loaded, the menu’s title shows “Vision Mastering with
Gravity Com”. If the controller has the Gravity Compensation option loaded but it is
disabled, you can enable the Gravity Compensation by setting
$PARAM_GROUP[n].$SV_DMY_LNK[8] (n: robot group) to "TRUE", and then cycle
the power.

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4.VISION MASTERING B-83724EN/02

4.6.4 Setup on Vision Mastering Screen

There are two setup items on the Vision Mastering screen.
• Robot Group Number
• Work Tool Frame Number

Set Robot Group Number

Move the cursor to "Robot Group" on the Vision Mastering screen, then enter the group number of the
robot to be calibrated.

UTILITIES iRCalibration
Vision Mastering with Gravity Com 1/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: FALSE
4 PAYLOAD number: 0
5 Camera Position(1-3): 0
6 Create Program (--------)
7 Run: VMAST11 (--------)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ]DISP_IMG

Set Work Tool Frame Number

Move the cursor to "Work Tool Frame Number" on the Vision Mastering screen and enter the tool frame
number to be used for the vision measurement.

UTILITIES iRCalibration
Vision Mastering with Gravity Com 2/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: FALSE
4 PAYLOAD number: 0
5 Camera Position(1-3): 0
6 Create Program (--------)
7 Run: VMAST11 (--------)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ]DISP_IMG

Select Payload
Move the cursor to "Select Payload" corresponding to the payload to be used for Vision Mastering, then
press the F4 (TRUE).

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B-83724EN/02 4.VISION MASTERING

UTILITIES iRCalibration
Vision Mastering with Gravity Com 3/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: FALSE
4 PAYLOAD number: 0
5 Camera Position(1-3): 0
6 Create Program (--------)
7 Run: VMAST11 (--------)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ] TRUE FALSE

The screen on the teach pendant changes as follows, indicating that the measurement using the selected
payload can be performed. You can disable that payload by pressing the F5 (FALSE).

UTILITIES iRCalibration
Vision Mastering with Gravity Com 3/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: TRUE
4 PAYLOAD number: 0
5 Camera Position(1-3): 0
6 Create Program (Not Done)
7 Run: VMAST11 (Not Done)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ] TRUE FALSE

Set "PAYLOAD number"

Move the cursor to "PAYLOAD number" corresponding to the payload to be used for Vision Mastering,
then enter a number.

UTILITIES iRCalibration
Vision Mastering with Gravity Com 4/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: TRUE
4 PAYLOAD number: 1
5 Camera Position(1-3): 0
6 Create Program (Not Done)
7 Run: VMAST11 (Not Done)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ]

CAUTION
1 The meaning of "PAYLOAD number" is as same as the "PAYLOAD number" in
the motion performance menu
2 The payload should be set correctly in the motion performance menu before
executing Vision Mastering.
3 "PAYLOAD number" is used as the value of "PAYLOAD" command in
measurement program. See section "4.7.1 TP program" for detail.

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4.VISION MASTERING B-83724EN/02

Set "Camera Position"

Move the cursor to "Camera Position" corresponding to the payload to be used for Vision Mastering, then
enter a number.

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 5/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: TRUE
4 PAYLOAD number: 1
5 Camera Position(1-3): 1
6 Create Program (Not Done)
7 Run: VMAST11 (Not Done)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ]

NOTE
If the robot is used in multiple payload conditions, for example, in which the robot
holds different types of workpieces, use two or more payloads in Vision
Mastering as well. Vision Mastering can be executed with up to three types of
payloads.

CAUTION
1 When the camera position does not change even though different payloads are
used, specify the same "Camera Position" value for each of the payloads.
2 If the camera position changes for each of different payloads to be used, be sure
to specify different "Camera Position" values.

4.6.5 Generating a Measurement Program

Procedure 4-7 Generating a measurement program
Step
1 Move the cursor to "Create Program" on the Vision Mastering screen, then press the F4 (SELECT)
or the ENTER key.

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 6/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: TRUE
4 PAYLOAD number: 1
5 Camera Position(1-3): 1
6 Create Program (Not Done)
7 Run: VMAST11 (Not Done)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
[ TYPE ] SELECT

The teach pendant displays a measurement program generation screen as shown below.

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B-83724EN/02 4.VISION MASTERING

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 1/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
[ TYPE ] [CHOICE]

2 Set the camera type. (7DC2/02 (V8.20P02) or later)

"SONY XC-56", "BASLER acA640-20um", "KOWA SC36MF", or "iRVision camera" can be
selected as the camera type.
If "SONY XC-56" is connected to JRL7 port of the main board or JRL7A port of the multiplexer,
select “SONY XC-56” as the camera type.
If the camera is set up in the iRVision setup screen, change camera type from "SONY XC-56" to
"iRVision Camera" and then choose the camera data of iRVision in the line below item of "Camera
Type".
For details, please refer to "3.5 USING iRVision CAMERA".

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 1/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
[ TYPE ] [CHOICE]

3 Set the focal distance (mm) of the camera lens

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 2/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
[ TYPE ]DISP_IMG

4 Set the grid spacing (mm) of the calibration grid.

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4.VISION MASTERING B-83724EN/02

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 3/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
[ TYPE ]DISP_IMG

5 Set the exposure time (ms) for the vision measurement.

ﾋ ﾞｼ ﾞ ｮﾝ ﾏ ｽﾀ ﾘ ﾝｸ ﾞ( 重 力 補正 機 能有 効 )
UTILITIES iRCalibration
5/19
Vision Mastering with Gravity Com 4/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
[ TYPE ] TIME+ TIME- LIVE FIND

Refer to Subsection 3.2 "DISPLAYING THE RUNTIME MONITOR" so that an image and the
Generating Measurement Program screen can be seen simultaneously. The following explains the
example of displaying an image and the Generating Measurement Program screen simultaneously on
iPendant. The display on the teach pendant is shown below.

UTILITIES iRCalibration iRVision Runtime Display

Vision Mastering with Gravity Com 4/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] TIME+ TIME- LIVE FIND

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B-83724EN/02 4.VISION MASTERING
Set Exposure Time on this screen by using function keys.
Function key functions
F2 (TIME+): Increases the "Exposure Time" value.
F3 (TIME-): Decreases the "Exposure Time" value.
F4 (LIVE): Displays the live image.
F5 (FIND): Detects the calibration grid. If the detection has succeeded, a + mark is displayed
on the dot detected. If the detection has failed, an error message is displayed.

NOTE
Holding down SHIFT key when pressing F2 or F3 the value changes in
larger increment..

NOTE
Vision Mastering uses the exposure time set in this screen. Vision Mastering
does not use exposure time setting in "Parameter Setting screen" or "Mode
Teach screen" of "Vision Setup"..

Appropriate exposure time:

Adjust the exposure time so that the image doesn’t become pure white but rather gray in the lightest
area of on the calibration grid. And, adjust the exposure time such that the white background and
black circles can be clearly distinguished. For details, please refer to "4.5.4 Generating a
Measurement Program".

6 Move the robot and teach the reference pose so that the origin of the target is in the center of the
camera image.

UTILITIES iRCalibration iRVision Runtime Display

Vision Mastering with Gravity Com 5/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position [1]:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] MOVE_TO RECORD

Move the cursor to "Reference Pose" on the measurement program generation screen, then press the
SHIFT key and the F5 (RECORD) together.
The current position is stored as reference pose. The display on the teach pendant is shown below.

- 65 -
4.VISION MASTERING B-83724EN/02

UTILITIES iRCalibration iRVision Runtime Display

Vision Mastering with Gravity Com 5/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position [1]:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] MOVE_TO RECORD

NOTE
If the “Reference Pose” is “RECORDED”, you can move the robot to the
recorded position by holding down the SHIFT key and press F4 (MOVE_TO)
when the cursor is at the “Reference Pose”.

7 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, and then measure
the camera position. If T1 mode is selected, the override can be improved more than 30%.
The camera position is measured while the robot automatically moves into multiple poses, with the
reference pose as a measurement start pose, in which the pose is changed by several centimeters in
the directions orthogonal to X, Y, and Z and by about 15 degrees in the pose directions of W, P, and
R. The camera position and calibration grid position are calculated based on the results of the vision
measurement.

CAUTION
Measuring a camera position influences all the payload conditions using the
same camera position number. If you re-measure an already measured
camera position, you have to generate and execute the measurement program
again for all the payloads which use that camera position number.

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B-83724EN/02 4.VISION MASTERING

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 6/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position [1]:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] SELECT

Move the cursor to "Measure Camera Position", then press SHIFT key and the F4(SELECT)
together.
The camera position will be measured. During measurement, the teach pendant displays the
following screen.

VCMTVTCP: 5/8 T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 6/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position [1]:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9
Camera position is being measured

[ TYPE ]

- 67 -
4.VISION MASTERING B-83724EN/02

NOTE
1 If the camera attachment position or the calibration grid position is changed,
measure the camera position again.
2 Keep pressing the SHIFT key during the measurement. For 7DC3/09
(V8.30P/09) or earlier software, if pressing the SHIFT key is interrupted,
resuming the measurement makes it restart from the beginning. For 7DC3/10
(V8.30P/10) or later software, when you resume the measurement after the
interruption, if a part of the measurement has been completed, a confirmation
message to select “REMSUME” or “RESTART” is displayed. Then, if “RESUME”
is selected, the measurement is resumed. If “RESTART” is selected, the
measurement is restarted from the beginning. If the camera attachment position
or the calibration grid position is changed, select "RESTART".
3 An attempt to perform camera position measurement during execution of
another program causes an error with the following error message displayed:
"INTP-313 (Z_VCLIB2,384) Motion statement failed, PROG-040 Already locked
by other task "
In this case, select " ABORT (ALL)" on the FCTN menu to terminate the program
being executed.

When the measurement is finished, the display on the teach pendant screen becomes as follows:
• The status of "Measure Camera Position" becomes "Done".
• The message "Camera position is measured" appears.
• The result of the measurement is displayed.
Measurement result:
• Camera Position: Position of visual TCP
• Calibration Grid Position: Origin position of calibration grid

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 6/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position [1]:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9
Camera position is measured

[ TYPE ] SELECT

8 Set the swing angles W, P, and R of measuring poses for Vision Mastering. For details on
measuring poses, please refer to "4.3.1 Outline of Measuring Poses".
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B-83724EN/02 4.VISION MASTERING

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 7/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position [1]:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] DISP_IMG

For Vision Mastering with only the mastering parameters adjusted

The recommended range for "Swing Angle W/P" is 20 to 45 degrees.
The recommended range for "Swing Angle R" is 30 to 45 degrees.

For Vision Mastering including the adjustment of Gravity Compensation

parameters
The recommended range for "Swing Angle W/P" is 35 to 45 degrees.
The recommended range for "Swing Angle R" is 45 degrees.

NOTE
Increasing the swing angle improves the accuracy of adjustment of mastering
parameters but requires a wider operating range.

NOTE
If swing angle W or P exceeds 45 degrees, it may be impossible to perform
vision measurement. Do not allow swing angle W or P to exceed 45 degrees.

9 Generate a measurement program.

Move the cursor to "Create Program", then press the F4 (SELECT) or ENTER key.

- 69 -
4.VISION MASTERING B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 10/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position [1]:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Program: 99.9

[ TYPE ] SELECT

Upon completion of generation of the measurement program, the screen on the teach pendant
changes as shown below.
• The "Create Program" status becomes "Done".
• The message "Program is created" is displayed.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 10/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position [1]:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Done )
Evaluation Index of Program: 4.9
Program is created

[ TYPE ] SELECT

When robot group is 1, TP program VMAST11 and VMDATA11 are generated. The first number
following VMAST and VMDATA indicates a robot group; the second one indicates a payload
number.
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B-83724EN/02 4.VISION MASTERING
10 Check the evaluation index and, if it is greater than 4.2, start at Step 8 over again and increase the
values of Swing Angle. If the Evaluation Index still is not improved, teach the reference pose to set
the camera away from the target, and start at Step 6 again.

NOTE
Smaller value of Evaluation Index of Program means higher accuracy of Vision
Mastering result may be achieved by using this program.

If a measurement program is generated with one already existing, the teach pendant displays the
following message.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 10/10
Create Program for Payload 1
Robot Group[ 1] PAYLOAD[ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position [1]:
X: 275.4 Y: 0.0 Z: 0.0
W: 0.0 P: -0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: -0.0 Z: 884.8
7 Swing Angle W: 45.0 deg
8 P: 45.0 deg
9 R: 45.0 deg
10 Create Program (Done )
Evaluation Index of Program: 4.9
OK to Delete & Re-generate program?

[ TYPE ] YES NO

If F4 (YES) is selected, a new measurement program is generated.

If F5 (NO) is selected, a new measurement program is not generated, but the Evaluation Index of an
existing program is recalculated.

11 When generating is finished, select the PREV key to return to Vision Mastering screen.

4.6.6 Executing the Measurement Program

Procedure 4-8 Executing the measurement program
Condition
• Make sure that the "Create Program" status is "Done".

Step
1 Move the cursor to "RUN", then press the F4 (SELECT) or the ENTER key.

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4.VISION MASTERING B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Mastering with Gravity Com 7/19
1 Robot Group: 1
2 Work Tool Frame Number: 9
Payload 1
3 Select Payload 1: TRUE
4 PAYLOAD number: 1
5 Camera Position(1-3): 1
6 Create Program (Done )
7 Run: VMAST11 (Not Done)
Payload 2
8 Select Payload 2: FALSE
9 PAYLOAD number: 0
10 Camera Position(1-3): 0
11 Create Program (--------)
12 Run: VMAST12 (--------)
Payload 3
13 Select Payload 3: FALSE
14 PAYLOAD number: 0
15 Camera Position(1-3): 0
16 Create Program (--------)
17 Run: VMAST13 (--------)

[ TYPE ] SELECT

The Edit Screen of Measurement Program is displayed.

T2 30 %
VMAST11 iRVision Runtime Display
1/114
1: UTOOL_NUM=9
2: UFRAME_NUM=0
3: PAYLOAD[1]
4:
5:J @P[28] 30% FINE
6:
7:L P[1] 500mm/sec FINE
8: CALL VCMT_VT(1,1)
9:L @P[28] 500mm/sec CNT0
10:
11:L P[2] 500mm/sec FINE
12: CALL VCMT_VT(2,1)
13:L @P[28] 500mm/sec CNT0
14:
15:L P[3] 500mm/sec FINE
16: CALL VCMT_VT(3,1)
17:L @P[28] 500mm/sec CNT0
18:
19:L P[4] 500mm/sec FINE
20: CALL VCMT_VT(4,1)
21:L @P[28] 500mm/sec CNT0

POINT TOUCHUP >

2 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, then run the
program displayed. If T1 mode is selected, the override can be improved more than 30%.

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B-83724EN/02 4.VISION MASTERING

NOTE
If the robot cannot move to any of positions [1] to [27] during execution of the
measurement program, make sure that the calibration grid resides within the
field of view of the camera, then re-teach a position to which the robot can move.

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “4.7.1 TP Program”.
For 7DC3/10 (V8.30P/10) or later software, when the measurement is
interrupted by the release of the SHIFT key, the occurrence of an alarm or other
reasons, re-execute the TP program after moving the cursor to the first line. If a
part of the measurement has been completed, a message “Press 0 (restart) or 9
(resume)” appears. Press the 0 key to restart the measurement from the
beginning or the 9 key to resume the measurement.

NOTE
If the camera attachment position or the calibration grid position is changed,
measure the camera position and generate the measurement program in “4.6.5
Generating a Measurement Program” again.

3 When the measurement has been completed, refer to Subsection 4.6.3, "Displaying the Vision
Mastering Screen" to display the Vision Mastering screen.

4.6.7 Updating Mastering Data

Procedure 4-9 Updating mastering data
Condition
• Make sure that the "Run" status of the measurement program for the selected payload is "Done".

Step
1 Move the cursor to "Updating mastering data", then press the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Vision Mastering with Gravity Com 18/19
11 Create Program (--------)
12 Run: VMAST12 (--------)
Payload 3
13 Select Payload 3: FALSE
14 PAYLOAD number: 0
15 Camera Position(1-3): 0
16 Create Program (--------)
17 Run: VMAST13 (--------)
18 Update Master CT (Not Done)
19 View Result
[ TYPE ]DISP_IMG SELECT

The teach pendant will display the prompt "OK to Update Gravity Comp. parameters?".

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4.VISION MASTERING B-83724EN/02

UTILITIES iRCalibration
Vision Mastering with Gravity Com 18/19
11 Create Program (--------)
12 Run: VMAST12 (--------)
Payload 3
13 Select Payload 3: FALSE
14 PAYLOAD number: 0
15 Camera Position(1-3): 0
16 Create Program (--------)
17 Run: VMAST13 (--------)
18 Update Master CT (Not Done)
19 View Result
OK to Update Gravity Comp. parameters?
[ TYPE ] YES NO

To adjust Gravity Compensation parameters, press the F4 (YES).

To adjust only mastering parameters without adjusting Gravity Compensation parameters, press the
F5 (NO).

CAUTION
When Vision Mastering is performed with only mastering parameters adjusted,
only one type of payload can be selected. In that case, do not set the status of
more than one payload to "TRUE".

To adjust Gravity Compensation parameters as well

If you press the F4 (YES) at the prompt asking whether to update Gravity Compensation parameters,
the teach pendant displays the mastering data update screen as shown below.

UTILITIES iRCalibration
Vision Mastering: Update Master CT
Robot Group[ 1]
Update GC Paramters: TRUE
Compensation Angles:
J1: 0.000 J2: -0.065
J3: 0.148 J4: -0.023
J5: -0.022 J6: 0.000

Evaluation Index of Program: 5.2

Mean Error of Calibration: .1
Max Error of Calibration: .2

[ TYPE ] UPDATE

To adjust only mastering parameters

If you press the F5 (NO) at the prompt asking whether to update Gravity Compensation parameters,
the teach pendant displays the mastering data update screen as shown below.

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B-83724EN/02 4.VISION MASTERING

UTILITIES iRCalibration
Vision Mastering: Update Master CT
Robot Group[ 1]
Update GC Paramters: FALSE
Compensation Angles:
J1: 0.000 J2: -0.035
J3: 0.158 J4: -0.013
J5: -0.020 J6: 0.000

Evaluation Index of Program: 3.3

Mean Error of Calibration: .1
Max Error of Calibration: .3

[ TYPE ] UPDATE

NOTE
Mastering parameters are not updated at this point.

2 Confirm the items displayed. If there is no problem, press the F3 (UPDATE) while holding down
the SHIFT key to update mastering data.

Display items on Updating Mastering Data screen

Compensation Angles
A compensation angles for the angular displacement shifted from the zero position for each rotation
axis [degree].

Evaluation Index of Program

Evaluation Index of actual measurement poses

Mean Error of Calibration

The mean value (calculated value) [mm] of visual TCP positions in 27 measurement poses after
calibration.

Max Error of Calibration

The maximum value (calculated value) [mm] of visual TCP positions in 27 measurement poses after
calibration.

Confirmation
• Confirm that maximum of Compensation Angles is 1° or less.
If maximum of Compensation Angles is exceeding 1°, update mastering data and run the
measurement program again, then confirm that the value of Compensation Angles displayed on
Updating Mastering Data screen becomes smaller.
• If you do not adjust Gravity Compensation parameters, check whether the evaluation index is 4.2 or
less.
If Evaluation Index is exceeding 4.2, there is a possibility that the calculation error of mastering
parameters is large. Re-generate the measurement program with the maximum swing angle increased
on the "Create Program" screen, then re-execute the program.
• If you adjust Gravity Compensation parameters, check whether the evaluation index is 5.5 or less.
If the evaluation index exceeds 5.5, mastering parameters may have a substantial calibration error.
After increasing the maximum swing value and generating a measurement program again, run the
program on "Create Program" screen.
• Confirm the Max Error of Calibration.
The approximate maximum error of mastering is as follows:
• When the transportable mass of the robot is 200 kg or less, "Max Error of Calibration" is 1.5
mm or less.

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4.VISION MASTERING B-83724EN/02

If the maximum error of mastering is considerably larger than the above value, possible causes are that
the lens or camera is not secured, the lens is out of focus, and that the target is not secured. Check these
causes again.

NOTE
1 If the Gravity Compensation parameters are adjusted as well and only one type
of payload is applied, it’s necessary to execute measurement and update of
Vision Mastering twice.
2 Please confirm that maximum of Compensation Angles of second calibration is
around 0.020. However the value 0.020 is affected by robot type and payload,
so if the value is bigger than 0.020, please execute measurement again and
check if the value is static.

NOTE
With heavy payload, the "Max Error of Calibration" can be larger than the
approximate value. For this case, please update mastering data, run the
measurement program, and check "Compensation Angles" and "Max Error of
Calibration" on Updating Mastering Data screen again. If "Max Error of
Calibration" does not change, but "Compensation Angles" is smaller, the robot is
mastered...

3 When Vision Mastering is performed with Gravity Compensation parameters adjusted, pressing the
F3 (UPDATE) while holding down the SHIFT key in the above procedure displays the following
screen on the teach pendant. Follow the on-screen instruction to turn the controller back on.

UTILITIES iRCalibration
Vision Mastering: Update Master CT
CAUTION

To make the updated data effective,

please cycle power.

4 After updating the mastering data, set the reference position for Quick Mastering again, preparing
for future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For
details of Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

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B-83724EN/02 4.VISION MASTERING

4.6.8 Viewing and Saving Mastering Results

Procedure 4-10 Viewing and saving mastering results
Step
1 Move the cursor to "View Result", then press the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Vision Mastering with Gravity Com 19/19
11 Create Program (--------)
12 Run: VMAST12 (--------)
Payload 3
13 Select Payload 3: FALSE
14 PAYLOAD number: 0
15 Camera Position(1-3): 0
16 Create Program (--------)
17 Run: VMAST13 (--------)

18 Update Master CT (Done )

19 View Result
[ TYPE ]DISP_IMG SELECT

The teach pendant displays the mastering result display screen as shown below.

UTILITIES iRCalibration
Vision Mastering: View Result Page 1
Robot Group[ 1]
Update GC Paramters: FALSE
Compensation Angles:
J1: 0.000 J2: -0.035
J3: 0.158 J4: -0.013
J5: -0.020 J6: 0.000

Evaluation Index of Program: 3.3

Mean Error of Calibration: .1
Max Error of Calibration: .3

[ TYPE ] NEXTPAGE OUTPUT

Function key
F4 (NEXTPAGE): Go to the next page.
F5 (OUTPUT): Pressing this with a memory card plugged in the controller writes
VCMT_LOG.TXT, a log file saving the Vision Mastering results, to the
memory card.

NOTE
If VCMT_LOG.TXT already exists, the new results are appended to the current
contents.

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4.VISION MASTERING B-83724EN/02

4.7 DETAILS OF TP PROGRAMS AND LOG FILE

4.7.1 TP Program
TP Program for Measurement
VMASTnx(n: robot group, x: payload number)

0 LINE
G1 JOINT 10 %
1: UTOOL_NUM=9 ;
2: UFRAME_NUM=0 ;
3: PAYLOAD[1] ;
4: ;
5:J P[28] 30% FINE ;
6: ;
7:L P[1] 500mm/sec FINE ;
8: CALL VCMT_VT(1,1) ;
9:L P[28] 500mm/sec CNT0 ;
10: ;
11:L P[2] 500mm/sec FINE ;
12: CALL VCMT_VT(2,1) ;
13:L P[28] 500mm/sec CNT0 ;
14: ;
･･･
107:L P[26] 500mm/sec FINE ;
108: CALL VCMT_VT(26,1) ;
109:L P[28] 500mm/sec CNT0 ;
;
111:L P[27] 500mm/sec FINE ;
112: CALL VCMT_VT(27,1) ;
113:L P[28] 500mm/sec CNT0 ;
[END]

In position 1 to 27, the initial positions for measurements are recorded.

In position 28, the reference positions are recorded. (In the measurement it is used as start position for
each measuring position)
VCMT_VT： Karel program for positioning by vision
VCMT_VT(position number, PAYLOAD number)

NOTE
If Gravity Compensation function is available and PAYLOAD number is set as 0,
there is not a command of PAYLOAD[ ](line 3).

For 7DC3/10 (V8.30P/10) or later software, call instructions of the program VCRSM_CHECK, label
instructions, and jump instructions are added to the TP program as below so that efficient resuming of the
measurement can done.

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B-83724EN/02 4.VISION MASTERING

0 LINE
G1 JOINT 10 %
1: CALL VCRSM_CHECK('START') ;
2: UTOOL_NUM=9 ;
3: UFRAME_NUM=0 ;
4: PAYLOAD[1] ;
5: ;
6: IF $VCRSM_CFG.$STEP_NUM>=2,
JMP LBL[2] ;
7: CALL VCRSM_CHECK(1) ;
8:J P[28] 30% FINE ;
9:L P[1] 500mm/sec FINE ;
10: CALL VCMT_VT(1,1) ;
11: ;
12: LBL[2] ;
13: IF $VCRSM_CFG.$STEP_NUM>=3,
JMP LBL[3] ;
14: CALL VCRSM_CHECK(2) ;
15:L P[28] 500mm/sec CNT0 ;
16:L P[2] 500mm/sec FINE ;
17: CALL VCMT_VT(2,1) ;
･･･
180: LBL[26] ;
181: IF $VCRSM_CFG.$STEP_NUM>=27,
JMP LBL[27] ;
182: CALL VCRSM_CHECK(26) ;
183:L P[28] 500mm/sec CNT0 ;
184:L P[26] 500mm/sec FINE ;
185: CALL VCMT_VT(26,1) ;
186: ;
187: LBL[27] ;
188: CALL VCRSM_CHECK(27) ;
189:L P[28] 500mm/sec CNT0 ;
190:L P[27] 500mm/sec FINE ;
191: CALL VCMT_VT(27,1) ;
192: ;
193: CALL VCRSM_CHECK('END') ;
194:L P[28] 500mm/sec CNT0 ;
[END]

VCRSM_CHECK： Karel program related to the resuming of the measurement.

The argument is to be ‘START’, ‘END’ or measurement number.

TP Program for Recording the Measuring Results

VMDATAnx (n : robot group, x : PAYLOAD number)

0 LINE
G1 JOINT 10 %
1: UTOOL_NUM=9 ;
2: UFRAME_NUM=0 ;
3: PAYLOAD[1] ;
4: ;
5:L P[1] 500mm/sec FINE ;
6:L P[2] 500mm/sec FINE ;
･･･
30: L P[26] 500mm/sec FINE ;
31: L P[27] 500mm/sec FINE ;
[END]

In position 1 to 27, the positioning results are recorded

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4.VISION MASTERING B-83724EN/02

NOTE
If Gravity Compensation function is available and PAYLOAD number is set as 0,
there is not a command of PAYLOAD[ ](line 3).

4.7.2 Log File

Log File of the Vision Mastering Result
VCMT_LOG.TXT

iRCalibration Vision Mastering Log File

Robot Group [1]

Robot Model : R2000iB/165F
Robot Number: F00000
Soft Version: V8.20P/12
Master Time: 29-MAY-14 11:46
Log Time: 29-MAY-14 11:49

Gravity Compensation: ON
Update GC Parameter: TRUE

Number of PAYLOAD: 1
PAYLOAD[ 1]
Payload: 8.000kg
Payload Center:
X: 5.772mm
Y: 0.000mm
Z: 10.456mm

Camera Position:1
X: 105.376 Y: 213.557 Z: 1030.357
W: .132 P: 3.223 R: 180.342

Focal Distance: 12.0mm

Grid Spacing: 15.0mm
Target Position:
X: 1674.800 Y: -.000 Z: 884.800

New Master Counts:

[1]: 123456
[2]: 123678
[3]: 123789
[4]: 1238889
[5]: 123889
[6]: 12345678
[7]: 0
[8]: 0
[9]: 0

Compensation Angles:
[1]: 0.000 [2]: 0.200 [3]: 0.300
[4]: 0.400 [5]: 0.500 [6]: 0.000

Evaluation Index: 3.0

Mean Residual Error: .170
Max Residual Error: .370

Origin Master Counts:

[1]: 123456
[2]: 144876
[3]: 145987
[4]: 1249880
[5]: 155883
[6]: 12345778
[7]: 0
[8]: 0
[9]: 0

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B-83724EN/02 4.VISION MASTERING

4.8 AVAILABLE TARGET

The available target is the calibration grid for Vision Mastering.

4.8.1 Calibration Grid

The available calibration grid for Vision Mastering should satisfy the specification shown as below.

Grid spacing
Fig. 4.8.1 Calibration Grid

All of the black circles are arranged so that they are uniformly spaced horizontally and perpendicularly.
Four larger black circles placed in the vicinity of the center indicate the origin and directions of a
coordinate system as shown. The ratio of the diameter of a large circle to that of a small circle is about
10:6.

The size of the calibration grid should be selected to fit the view field of the camera.
The aim of selection is set as below:
When the standoff (the distance between the lens of the camera and the target) is set as about 400mm,
the longest distance among three larger black circles along the X-axis is equal to 1/3 to 1/4 of the length
of the view filed of the camera.

The calibration grids for iRVision shown as below are available.

Table 4.8.1 Calibration Grid (for iRVision)

Type Size (mm) Grid Spacing (mm)
Camera Calibration Plate A □100 7.5
Camera Calibration Plate B □200 15
Camera Calibration Plate C □400 30

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5.GENKOTSU VISION MASTERING B-83724EN/02

5 GENKOTSU VISION MASTERING

5.1 GENKOTSU VISION MASTERING
What is Genkotsu Vision Mastering?
Genkotsu Vision Mastering enhances positional accuracy of the Genkotsu-Robot by using a camera to
measure a target (that is attached to the tip of the robot tool) . The measurements are used to calculate the
kinematic parameters of the Genkotsu-Robot to compensate for motion control. This function is effective
for enhancing the accuracy of the TCP setting and positional compensations by iRvision.

Features and Limitations of Genkotsu Vision Mastering

• This function is only applicable to the M-1iA/0.5S (4-axes model) of which the installation angle is
0º.
• The robot must have been mastered using a mastering fixture to apply this function.
• The robot moves in wide range during vision measurement. Please ensure that there is sufficient
operating area available.

5.2 OVERVIEW OF GENKOTSU VISION MASTERING

5.2.1 System Configuration

The Genkotsu Vision Mastering system of the M-1iA/0.5S consists of a robot controller, an iPendant, a
camera (SONY XC-56, BASLER acA640-20um, or KOWA SC36MF), a 12mm Fanuc lens, an extension
ring 0.5mm thick, a camera cable, a target, and a positional pin.

Teach Pendant

Target, Positioning Pin Robot Controller

Camera, Lens, Extension Ring

Camera Cable

Fig. 5.2.1 System configuration of Genkotsu Vision Mastering (M-1iA/0.5S)

NOTE
1 The camera (SONY XC-56, BASLER acA640-20um, or KOWA SC36MF), the 12mm
Fanuc lens, the target for Genkotsu Vision Mastering, and a positional pin are available
from FANUC.
2 The customer should prepare a jig for holding the camera such as a tripod, a magnetic
stand, or other device.

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B-83724EN/02 5.GENKOTSU VISION MASTERING

5.2.2 TP Program to Execute Vision Measurement

• The vision measurement is executed by running the TP program “VCGMM05S” (Fig. 5.2.2).
• The camera needs to be set to four positions to execute vision measurement. The four setting
positions are called “camera position 1”, “camera position 2”, “camera position 3”, and “camera
position 4”.
• The camera can be moved between the vision measurements of each position, therefore four cameras
are not necessary to be prepared.
• For details, refer to subsection 5.3.5, “Execute Vision Measurement”.

VCGMM05S
VCGMM05S JOINT 10%
1/29
1: !Genkotsu Vision Mastering
2: !Program for M-1iA/0.5S
3:
4: !Set Camera Type
5: ! 1: SONY XC-56
6: ! 2: BASLER acA640-20um
Set the camera type
7: ! 3: KOWA SC36MF
8: CALL VT_M05S(‘CAMERA’, 1)
9: !Set Group Number
Set robot group number
10: CALL VT_M05S(‘GROUP’, 1)
11: !Set Exposure Time (msec) Set exposure time of camera
12: CALL VT_M05S(‘EXPOS’, 80)
13: !Display Image iPendant configuration turns into “Double” pane and the
14: CALL VT_M05S(‘DISPLAY’) runtime monitor screen is displayed on the right-hand screen.
15: PAUSE
16:
17: !Start Measurement
18: OVERRIDE=30%
19: CALL VT_M05S(‘MOVE’, 1)
20: PAUSE Execute vision measurement at camera position 1
21: CALL VT_M05S(‘VTOUCH’, 1)
22: PAUSE
23: CALL VT_M05S(‘MOVE’, 2)
Execute vision measurement at camera position 2
24: PAUSE
25: CALL VT_M05S(‘VTOUCH’, 2)
26: PAUSE
27: CALL VT_M05S(‘MOVE’, 3)
Execute vision measurement at camera position 3
28: PAUSE
29: CALL VT_M05S(‘VTOUCH’, 3)
30: PAUSE
31: CALL VT_M05S(‘MOVE’, 4)
32: PAUSE Execute vision measurement at camera position 4
33: CALL VT_M05S(‘VTOUCH’, 4)
[End]

Fig. 5.2.2 TP program VCGMM05S for executing vision measurement (M-1iA/0.5S)

CAUTION
The TP program “VCGMM05S” is paused sometimes when the program is running.
Please don’t jog the robot or execute the other programs when this program is pausing.

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5.3 OPERATION OF GENKOTSU VISION MASTERING

This section describes the procedure for Genkotsu Vision Mastering.

5.3.1 Operation Procedure

Preparing the camera

Co nnect the camera to the robot controller or the iPendant with the
camera cable, and install the lens and the extension ring to the camera.
For details, refer to subsection 5.3.2, “Preparing the Camera”.

Attaching the target

Attach the target of Genkotsu Vision Mastering.

For details, refer to subsection 5.3.3, “Attaching the Target”.

Setting the parameters for measurement and displaying the runtime monitor

Execute the TP program “VCGMM05S” to set parameters which are

necessary for vision measurement and disp lay the runtime monitor. For
details, refer to subsection 5.3.4, “Setting Parameters for
Measurement and Display the Runtime Monitor”.
・ Select “VCGMM05S” from the program list screen.
・ Enter the camera type number and the gro up number of the robot.
・ Enter the exposure time of the camera, if it is need ed.
・ Run the TP program “VCGMM05S” from top of lines to reflect
entered group number and exposure time into the rob ot controller and
display runtime monitor automatically.
・ The TP program will be paused after reflecting these parameters.

Executing Vision Measurement of camera position 1

Execute vision measurement o f camera position 1. For details, refer to

subsection 5.3.5, “Executing Vision Measurement”.

Mov e to the base position of camera position 1

・ Resu me the paused program to move the robot to the base position of
camera position 1 .
・ The live image is displayed and the TP program is p aused after
mo ving the robot to the base position.

Setting the camera

Set the camera under the target.

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B-83724EN/02 5.GENKOTSU VISION MASTERING

Start vision measurement of camera position

Resume the paused TP program to start vision measurement of camera

position 1.

Executing vision measurement of camera position 2,3,4

Execute vision measurement of camera position 2, camera position 3, and

the camera position 4 subsequently in the same procedure of camera
position 1.

Displaying the “Genkotsu Vision Mastering” screen

Select “iRCalibration” from the “UTILITIES” menu, and select

“Genkotsu Vision Mastering” from the “iRCalibratio n” menu to display
the “Genkotsu Vision Mastering” screen. For details, refer to subsection
5.3.6, “Operating in the “Genkotsu Vision Mastering” Screen”.

Setting phase of J4 drive shaft

Set the p hase of J4 drive shaft in the “Genkotsu Vision Mastering” screen.

Updating kinematic parameters

Display the “Update Kinematic Parameters” screen from the “Genkotsu

Vision Mastering” screen. For details, refer to subsection 5.3.7, “Update
Kinematic Parameters”.

Calculating and displaying new kinematic parameters

Updating kinematic parameters

If the error of target position is more than 0.2mm or the error of drive
shaft is more than 0.2º, update kinematic parameters, re-execute vision
measurement, and update kinematic parameters again.

Removing the camera and the target

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5.GENKOTSU VISION MASTERING B-83724EN/02

5.3.2 Preparing the Camera

• Connect the camera to the robot controller or the iPendant with the camera cable. For details, refer to
subsection 3.1.2, “Connecting the Camera to the Robot Controller or the iPendant”.
• "SONY XC-56", "BASLER acA640-20um", or "KOWA SC36MF" can be used as the camera.
• Install the extension ring 0.5mm thick and 12mm FANUC lens to the camera.
• Adjust the focus and the aperture of the lens as shown in Fig. 5.3.2.

Move the focus handle to the right edge of “0.3”.

Sandwich the extension ring between the camera

and the lens.

Move the aperture handle to the dot between “8”

and “4”.

Fig. 5.3.2 A lens and an extension ring installed on a camera (M-1iA/0.5S)

5.3.3 Attaching the Target

The shape of the target of Genkotsu Vision Mastering for M-1iA/0.5S as shown in Fig. 5.3.3(a).

Fig. 5.3.3(a) Target of Genkotsu Vision Mastering for M-1iA/0.5S

Install the target of Genkotsu Vision Mastering for M-1iA/0.5S as shown in Fig. 5.3.3(b) (The robot is at
the zero position). Insert the positioning pin and the target into the flange of the robot securely, and
tighten the four screws.

Insert the positioning pin

Fig.5.3.3(b) Attaching the target of Genkotsu Vision Mastering for M-1iA/0.5S
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5.3.4 Setting Parameters for Measurement and Display the

Runtime Monitor
Set the camera type, the group number of the robot which is to be measured by vision, adjust the exposure
time of the camera, and display the runtime monitor on the iPendant by executing the TP program
“VCGMM05S”.

Procedure 5-1 Setting parameters for measurement and display the runtime
monitor
Step
1 Display the edit screen of the TP program “VCGMM05S” by displaying the program list screen and
selecting “VCGMM05S” from the program list.

2 Move the cursor to the part which is surrounded by the frame at “CALL VT_M05S(‘CAMERA’, 1)”
of the following figure, and enter the camera type number. Camera type numbers corresponds to the
cameras as follows.

1: SONY XC-56
2: BASLER acA640-20um
3: KOWA SC36MF

VCGMM05S
VCGMM05S JOINT 10%
8/34
1: !Genkotsu Vision Mastering
2: !Program for M-1iA/0.5S
3:
4: !Set Camera Type
5: ! 1: SONY XC-56
6: ! 2: BASLER acA640-20um
7: ! 3: KOWA SC36MF
8: CALL VT_M05S(‘CAMERA’, 1)
9: !Set Group Number
10: CALL VT_M05S(‘GROUP’, 1)
[INST] [EDCMD]

NOTE
The values that are set in the TP program cannot be changed if the teach pendant is
disabled. Change the value with the teach pendant is enabled.

3 Move the cursor to the part which is surrounded by the frame at “CALL VT_M05S(‘GROUP’, 1)”
of the following figure, and enter the group number of the robot that is to perform Genkotsu Vision
Mastering.

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VCGMM05S
VCGMM05S JOINT 10%
10/34
6 ! 2: BASLER acA640-20um
7: ! 3: KOWA SC36MF
8: CALL VT_M05S(‘CAMERA’, 1)
9: !Set Group Number
10: CALL VT_M05S(‘GROUP’, 1)
11: !Set Exposure Time (msec)
12: CALL VT_M05S(‘EXPOS’, 80)
13: !Display Image
14: CALL VT_M05S(‘DISPLAY’)
15: PAUSE
[INST] [EDCMD]

4 Move the cursor to the part which is surrounded by the frame at “CALL VT_M05S(‘EXPOS’, 80)”
of the following figure, and enter the exposure time of the camera (unit: ms) if it should be adjusted.

VCGMM05S
VCGMM05S JOINT 10%
12/34
6 ! 2: BASLER acA640-20um
7: ! 3: KOWA SC36MF
8: CALL VT_M05S(‘CAMERA’, 1)
9: !Set Group Number
10: CALL VT_M05S(‘GROUP’, 1)
11: !Set Exposure Time (msec)
12: CALL VT_M05S(‘EXPOS’, 80)
13: !Display Image
14: CALL VT_M05S(‘DISPLAY’)
15: PAUSE
[INST] [EDCMD]

NOTE
Start vision measurement and set the exposure time to 80 ms. If the image obtained
during the measurement is too bright or too dark, change the exposure time and restart
the vision measurement.

5 Move the cursor to the top line of the TP program and run the TP program “VCGMM05S”.
VCGMM05S
VCGMM05S JOINT 10%
1/34
1: !Genkotsu Vision Mastering
2: !Program for M-1iA/0.5S
3:
4: !Set Camera Type
5: ! 1: SONY XC-56
6: ! 2: BASLER acA640-20um
7: ! 3: KOWA SC36MF
8: CALL VT_M05S(‘CAMERA’, 1)
9: !Set Group Number
10: CALL VT_M05S(‘GROUP’, 1)
[INST] [EDCMD]

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The entered group number and exposure time will be reflected on the robot controller and the TP program
will be paused. The iPendant displays “Double” pane mode and the right pane displays the runtime
monitor screen.

VCGMM05S
VCGMM05S JOINT 10%
PAUSED 16/34
8: CALL VT_M05S(‘CAMERA’, 1)
9: !Set Group Number
10: CALL VT_M05S(‘GROUP’, 1)
11: !Set Exposure Time (msec)
12: CALL VT_M05S(‘EXPOS’, 80)
13: !Display Image
14: CALL VT_M05S(‘DISPLAY’)
15: PAUSE
16:
17: !Start Measurement
[INST] [EDCMD]

5.3.5 Executing Vision Measurement

Use the camera to execute vision measurement and execute the TP program “VCGMM05S”. There are
four setting positions of the camera.

Procedure 5-2 Executing vision measurement for camera position 1

Step
1 Resume the paused TP program “VCGMM05S” to move the robot to the base position of camera
position 1 via the home position.

CAUTION
Be sure that the target and the robot do not interfere with peripheral devices during
robot movement.

NOTE
1 The home position is the position such as (J1,J2,J3,J4) = (25º, 25º, 25º, 0º).
2 The base position of camera position 1 is the position as (J1,J2,J3,J4) = (-6º, -27º,
-34º, -165º) (These values are the value before applying kinematic parameters which
are calculated by Genkotsu Vision Mastering, and are rounded to integers.)

The teach pendant is shown as follows while moving to the home position.

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Moving to home position ...

VCGMM05S JOINT 30%
19/34
17: !Start Measurement
18: OVERRIDE=30%
19: CALL VT_M05S(‘MOVE’, 1)
20: PAUSE
21: CALL VT_M05S(‘VTOUCH’, 1)
22: PAUSE
23: CALL VT_M05S(‘MOVE’, 2)
24: PAUSE
25: CALL VT_M05S(‘VTOUCH’, 2)
26: PAUSE
LOOK

The teach pendant is shown as follows while moving to the base position of the camera position 1.

Moving to base position ...

VCGMM05S JOINT 30%
19/34
17: !Start Measurement
18: OVERRIDE=30%
19: CALL VT_M05S(‘MOVE’, 1)
20: PAUSE
21: CALL VT_M05S(‘VTOUCH’, 1)
22: PAUSE
23: CALL VT_M05S(‘MOVE’, 2)
24: PAUSE
25: CALL VT_M05S(‘VTOUCH’, 2)
26: PAUSE
LOOK

2 After moving to the base position, “Set camera under target.” is displayed on the top line of the teach
pendant, the live image is displayed on the runtime monitor, and the TP program is paused.

Please set camera under target.

VCGMM05S JOINT 30%
PAUSED 21/34
17: !Start Measurement
18: OVERRIDE=30%
19: CALL VT_M05S(‘MOVE’, 1)
20: PAUSE
21: CALL VT_M05S(‘VTOUCH’, 1)
22: PAUSE
23: CALL VT_M05S(‘MOVE’, 2)
24: PAUSE
25: CALL VT_M05S(‘VTOUCH’, 2)
26: PAUSE
LOOK

CAUTION
Do not jog the robot or execute the other program while the TP program “VCGMM05S”
is paused.

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3 Mount the camera under the target. The position of the camera needs to satisfy the following
conditions:

• Locate the camera so that the distance between the target and the tip of the lens is in following
range.

SONY XC-56: 110-130mm

BASLER acA640-20um: 145-170mm
KOWA SC36MF: 135-160mm

• Locate the camera as the camera and target face each other squarely as possible. The tilt of the
camera relative to the target needs to be within 3 degrees.

110-130mm
(SONY XC-56)

Lens

Camera

• Position the camera so that the center dot is located near the intersection of the red crosshairs in the
camera’s image, while watching the live camera image on the display.

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NOTE
1 If outlines of the dots are blurred, check the focus and aperture setting on the
lens. Make sure the lens and the extension ring are securely installed to the
camera (For details of lens setting, refer to subsection 5.3.2, “Preparing
camera”.)
2 If the target image is too bright, check the aperture setting of the lens and/or reduce the
exposure time.

4 Resume the paused TP program to start the vision measurement of camera position 1 after setting the
camera.

CAUTION
1 Be sure that the target and the robot do not interfere with the peripheral devices while
the robot is moving .
2 Do not move the fixed camera, and set the robot override to 30% or less while executing
vision measurement.

At first, the vision measurement checks whether the camera position and the target position are valid.
Subsequently, vision measurement is executed at twelve postures by moving the robot as the target is
rotated by 30º from 0º to 330º on the optical axis of the camera.

The number that indicates which posture is measured by vision is displayed on the top line of the teach
pendant as shown in the following screen. (In case of the following screen, the third posture is measured
by vision.)

[ 3/12]Detecting ... Don’t move camera

VCGMM05S JOINT 30%
21/34
17: !Start Measurement
18: OVERRIDE=30%
19: CALL VT_M05S(‘MOVE’, 1)
20: PAUSE
21: CALL VT_M05S(‘VTOUCH’, 1)
22: PAUSE
23: CALL VT_M05S(‘MOVE’, 2)
24: PAUSE
25: CALL VT_M05S(‘VTOUCH’, 2)
26: PAUSE
LOOK

When the measurement is completed, “[1/4] Measurement has been completed.” is displayed on the top
line of the teach pendant.

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[1/4]Measurement has been completed.

VCGMM05S JOINT 30%
PAUSED 23/34
17: !Start Measurement
18: OVERRIDE=30%
19: CALL VT_M05S(‘MOVE’, 1)
20: PAUSE
21: CALL VT_M05S(‘VTOUCH’, 1)
22: PAUSE
23: CALL VT_M05S(‘MOVE’, 2)
24: PAUSE
25: CALL VT_M05S(‘VTOUCH’, 2)
26: PAUSE
[INST] [EDCMD]

Procedure 5-3 Executing vision measurement for camera Position 2, camera

position 3, and camera position 4
The robot will move to the base position of camera position 2 via the home position by resuming the
paused TP program “VCGMM05S” after the measurement of camera position 1 is completed. The
procedure of the vision measurement of camera position 2, camera position3, and camera position 4 are
the same as the vision measurement of camera position 1, so execute the measurements by referring to
subsection “Procedure of vision measurement for camera position 1”.

NOTE
1 The base position of camera position 2 is the position as (J1,J2,J3,J4) = (12º, 33º, 23º,
-165º).
2 The base position of camera position 3 is the position as (J1,J2,J3,J4) = (-44º, -16º, 14º,
-165º).
3 The base position of camera position 4 is the position as (J1,J2,J3,J4) = (40º, 17º, -25º,
-165º).
(These values are the value before applying kinematic parameters which are calculated by
Genkotsu Vision Mastering, and are rounded to integers.)

5.3.6 Operation in “Genkotsu Vision Mastering” Screen

Procedure 5-4 Operation in “Genkotsu Vision Mastering” screen
Condition
• Vision measurement should be completed before the “Genkotsu Vision Mastering” screen is
displayed.
Step
1 Press the MENU key and select “UTILITIES” in the pop-up menu.
2 Press the F1[TYPE] key and select “iRCalibration” in the pop-up menu.

The following screen is displayed on the teach pendant.

3 Move the cursor to “Genkotsu Vision Mastering” and press the F3[DETAIL] key or the ENTER
key.

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UTILITIES iRCalibration JOINT 30%

2/2
1 Vision TCP Set
2 Genkotsu Vision Mastering

[TYPE] DETAIL

The “Genkotsu Vision Mastering” screen is displayed on the teach pendant as follows.

4 Move the cursor to “Phase of J4 Drive Shaft” and press the F4[SELECT] key.

UTILITIES iRCalibration JOINT 30%

Genkotsu Vision Mastering 1/2
M-1iA/0.5S
Robot Group[1]
1 Phase of J4 Drive Shaft: ***deg
2 Update Kinematic Parameters

[TYPE] SELECT

5 Select the phase of J4 drive shaft from “-60”, “-30”, “0”, “+30”, “+60”, or “+90” in the displayed
pop-up list. The phase of the J4 drive shaft can be judged by moving the J4 axis of the robot to 0º
and viewing the end of the J4 drive shaft which is indicated in Fig. 5.3.6(a) from the front.

View to judge this part.

Fig.5.3.6(a) The end of J4 drive shaft to judge the phase of the drive shaft

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The Fig. 5.3.6(b) is the diagram of the shape of the end of the drive shaft that is viewed by the front when
the J4 is 0º. Move the J4 axis of the robot to 0º, and select the phase of the drive shaft based on
Fig.5.3.6(b). Enter the phase of the drive shaft into the Phase of Drive shaft field.

Phase：0deg Phase： +30deg Phase： +60deg

Phase： +90deg Phase： -60deg Phase： -30deg

Fig.5.3.6(b) The shape of the end and the phase of J4 drive shaft

5.3.7 Updating Kinematic Parameters

Procedure 5-5 Updating kinematic parameters
Condition
• The phase of the J4 drive shaft needs to be set before updating kinematic parameters of the robot.
Step
1 Move the cursor to “Update Kinematic Parameters” in the “Genkotsu Vision Mastering” screen and
press the F4[SELECT] key and ENTER key.

UTILITIES iRCalibration JOINT 30%

Genkotsu Vision Mastering 2/2
M-1iA/0.5S
Robot Group[1]
1 Phase of J4 Drive Shaft: +60deg
2 Update Kinematic Parameters

[TYPE] SELECT

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Kinematic parameters of the robot are calculated, and the “Update Kinematic Parameters” screen is
displayed if the calculation is completed successfully.

NOTE
When “Calculation has failed.” is displayed on the bottom line of the teach pendant, the
“Update Kinematic Parameters” screen can’t be displayed. Check if the attachment of
the target and the setting of the camera and lens are correct again and re-execute
vision measurement.

2 Check if the displayed settings of the group number and the phase of J4 drive shaft are correct, and
press the F3[UPDATE] key while holding down the SHIFT key to update kinematic parameters.

UTILITIES iRCalibration JOINT 30%

Genkotsu Vision Mastering
Update Kinematic Parameters
M-1iA/0.5S
Robot Group[1]
Phase of J4 Drive Shaft[+60 deg]

Compensation Angles:
J1: -0.12deg J2: 0.42deg
J3: 0.46deg J4: 1.59deg

Error of Target Position: 0.11 mm

Error of Drive Shaft Rotation: 0.06 deg

[TYPE] UPDATE

NOTE
When either “Error of target position is too big”, “Error of drive shaft rotation is too big”,
or “Calculated parameters are invalid” are displayed on the bottom line of the teach
pendant, Kinematic parameters can’t be updated. Check if the attachment of the target
and the setting of the camera and lens are correct again and re-execute vision
measurement.

“Kinematic parameters has been updated” is displayed in the bottom line of the teach pendant after
kinematic parameters is updated.

UTILITIES iRCalibration JOINT 30%

Genkotsu Vision Mastering
Update Kinematic Parameters
M-1iA/0.5S
Robot Group[1]
Phase of J4 Drive Shaft[+60 deg]

Compensation Angles:
J1: -0.12deg J2: 0.42deg
J3: 0.46deg J4: 1.59deg

Error of Target Position: 0.11 mm

Error of Drive Shaft Rotation: 0.06 deg
Kinematic parameters has been updated.
[TYPE]

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B-83724EN/02 5.GENKOTSU VISION MASTERING

NOTE
1 Mastering data (The values of $DMR_GRP[g].$MASTER_COUN[a]) are not changed by
applying Genkotsu Vision Mastering.
2 If the error of the target position is more than 0.2mm or the error of drive shaft rotation is
more than 0.2mm, vision measurement may not have been executed correctly.
Therefore, in this case, re-execute vision measurement and update kinematic
parameters againafter you update kinematic parameters.

. Genkotsu Vision Mastering is complete.

5.4 RESETTING KINEMATIC PARAMETERS

This section describes how to reset kinematic parameters and deal with re-mastering.

5.4.1 Resetting Kinematic Parameters

To reset updated kinematic parameters to the previous state, perform the following operations.

1 Create a TP program as following screen. When the program “VT_M05S” is called, set the first
parameter to ‘RESET’, and the second parameter to the group number of the robot that is to be reset
kinematic parameters.

RESET
RESET JOINT 10%
1/2
1: CALL VT_M05S(‘RESET’, 1)
[End]

2 Run this TP program.

“Kinematic parameters have been reset” is displayed on the teach pendant.

Kinematic parameters have been reset.

RESET JOINT 10%
2/2
1: CALL VT_M05S(‘RESET’, 1)
[End]

5.4.2 Re-mastering after Replacement of Mechanical Parts

After the robot is re-mastered for replacement of mechanical parts, the kinematic parameters that were
calculated by Genkotsu Vision Mastering will be disabled.

The user should:

• Reset kinematic parameters in the method described above.
• Re-execute vision measurement.
• Update kinematic parameters again.

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6 VISION MASTER RECOVERY

6.1 VISION MASTER RECOVERY
What is Vision Master Recovery?
If robot parts (motors and reducers, etc.) are replaced, the mastering data (zero positions of rotational
axes) of corresponding axes become invalid, and the mastering status of the robot is lost. Vision Master
Recovery automatically measures a fixed calibration grid by using a camera attached to the tool of a robot
while changing the posture of the robot before and after replacement of the robot parts. It also recovers
the mastering status of the robot precisely by calculating new mastering data from the measuring results.

Features of Vision Master Recovery

• This function can be used by only a 6-axis. A 4-axis or 5-axis robot or a Genkotsu robot cannot use
this function.
• Operations other than camera installation are performed automatically. Manual operations are
therefore simplified, and the operation results do not depend on the skill of the operator.
• When the parts of plural axes are replaced, Vision Master Recovery recovers the mastering status of
these plural axes one at a time.
• This function requires that the robot can move just before replacement of robot parts.
• This function executes vision measurement by using a camera and a calibration grid before and
after replacement of robot parts. Installed or fixed positions of the camera and the calibration grid
when executing vision measurement before replacement and installed or fixed positions of the
camera and the calibration grid when executing vision measurement after replacement must be equal
respectively. Therefore, installed or fixed positions of the camera and the calibration grid must not
be changed until the vision measurement after replacement has been done.

TP programs used for Vision Master Recovery

Vision Master Recovery uses robot operation programs (hereinafter referred to as TP programs) to
perform a sequence of operations.
When Vision Master Recovery is performed, these TP programs are generated automatically. TP
programs can also be created beforehand with offline programming. This can further reduce production
down time.
For details of TP programs, see subsection 6.6.1 “TP program” in this manual.

6.2 SYSTEM CONFIGURATION

6.2.1 Overall Configuration

The Vision Master Recovery system consists of a robot controller, a teach pendant (iPendant), a camera, a
lens, a camera cable, and a calibration grid.

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B-83724EN/02 6.VISION MASTER RECOVERY

Camera Cable

Camera
iPendant Robot Controller

Lens

Calibration Grid

Fig. 6.2.1 System configuration of Vision Master Recovery

NOTE
1 FANUC standard cameras, lenses, and calibration grids are available in several
sizes.
2 The customer is responsible for fabricating a jig for holding the camera and a jig
for holding the calibration grid.

Tips
With 7DC/02 (V8.20/P02) or later system software and iRVision option installed,
Vision Master Recovery can use camera data created by iRVision which
includes cameras and lenses are not listed in "2.1 COMPONENTS". For
details, please refer to "3.5 USING iRVision CAMERA".".

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6.2.2 Outline of the Vision Master Recovery Procedure

あ部品交換前の計測プログラムの実行 0.
Install the camera and the calibration grid

Display the ”Vision Master Recovery” screen

Set the setup items

Display the ”Set Robot Axes to Recover” screen

Set robot axes to recover

Display the ”Create Program” screen

Choose camera type (7DC2/02 or later)

Teach a reference pose

Measure the camera position

Set swing angles of measuring poses

Generate a measurement program

あ部品交換前の計測プログラムの実行 0. error
Execute the measurement program for reference

Display the ”Check the Measurement for Reference” screen

Execute the measurement program for check

Check evaluation index and measurement error

Replace the robot parts and set temporary mastering data

Execute the measurement program for recovery

Display the ”Recover Master CT” screen

Calculate and checking mastering data

Recover mastering status

View and save recovering results

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6.3 MEASURING POSES FOR VISION MASTER RECOVERY

6.3.1 Outline of Measuring Poses

Standoff

Fig. 6.3.1 Measuring Poses

Vision Master Recovery uses two or more measuring poses. These poses are automatically generated
based on a reference pose (initial value).
The measuring poses are generated as detailed below.
• A total of 27 measuring poses are generated by adding three different swing angles, or a positive
maximum swing angle, negative maximum swing angle, and 0, to each of the postures (W, P, R) of
the reference pose.
• The robot is adjusted so that the standoff (the distance between the camera and the calibration grid)
at each measurement pose matches the reference pose standoff.

6.3.2 Example of Reference Pose

Reference pose example in which the robot can operate relatively easily
Setting the reference pose as shown below results in a large maximum swing angle for the measuring
pose.
1 The J2-axis and J4-axis angles are around 0 degrees.
2 The J3-axis angle is negative.
3 The wrist flange surface of the robot faces down.

Fig. 6.3.2 Reference pose in which the robot can operate relatively easily

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6.4 INSTALLATION OF THE CAMERA AND CALIBRATION

GRID

6.4.1 Installing the Camera

Secure the camera to the tool of the robot.

NOTE
The camera can be set to arbitrary position on the tool. Fix it securely so that it
does not move during the operation of Vision Master Recovery.

Install the camera such that the dash line (the visual TCP indicated below) is offset from the center line of
the J6 axis (solid line). An offset of at least 100 mm is recommended.

The recommended value of standoff (distance between the camera and the calibration grid) is 500 mm.

Offset is more than 100mm

Standoff is more than 500mm

Standoff

Visual TCP
Offset

Fig. 6.4.1(a) Installing the camera

Keep the camera and the tool away from the base section of the robot and tilt the J3 arm downward as
shown below, so that the wrist section hardly causes interference.

Hardly interfere

Fig. 6.4.1(b) Wrist pose in which the camera hardly interferes with the robot

If the camera or tool is close to the base section of the robot or if the J3 arm is tilted upward in contrast,
the wrist section is liable to cause interference. In that case, the swing angle of measuring pose must be
reduced, involving a risk of degrading recovering results of mastering status.

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B-83724EN/02 6.VISION MASTER RECOVERY

Liable to interfere

Fig. 6.4.1 (c) Wrist pose in which the camera is liable to interfere with the robot

Check these examples for reference to appropriately install the camera and select the reference pose of the
robot.

6.4.2 Installing the Calibration Grid

Place the calibration grid at a position where it can be installed in a stable condition.

Camera

Lens

Calibration Grid
Fig. 6.4.2 Installation of calibration grid

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6.VISION MASTER RECOVERY B-83724EN/02

Displaying camera image for installing the calibration grid

Install the calibration grid such that the X-axis direction of the calibration grid (See subsection 6.7.1,
“Calibration Grid”) comes upward in the camera image. (For displaying the image, see Section 3.2,
“DISPLAYING THE RUNTIME MONITOR”.)
Install the calibration grid with its face approximately perpendicular to the optical axis of the camera.

NOTE
The calibration grid should be placed near the center of the field of view.
Roughly placing the calibration in the center of the field of view is sufficient; its
placement does not require a high level of precision.

NOTE
Install the calibration grid securely so that it does not move during the operation
of Vision Master Recovery.

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6.5 OPERATION OF VISION MASTER RECOVERY

This section describes the procedure for Vision Master Recovery.

6.5.1 Operation Procedure

Install the camera and the calibration grid

Connect the camera to the controller or iPendant

Connect the camera to the controller or the iPendant with a camera cable.

Ins tall the camera and the calibration grid

Mount the camera o n the robots end of arm to oling, and secure the
calibration grid to a fixed surface.

Display the ”Vision Master Recovery” screen

Select “iRCalibratiion” fro m the “UTILITIES” menu, and select “Vision

Master Reocovery” from the “iRCalibration” menu to display the “Vision
Master Recovery” screen.
For details, refer to subsection 6.5.2, “Displaying the “Vision Master
Recovery” Screen”.

Setup on the “Vision Master Recovery” screen

Set robot group number and work tool frame number.

For details, refer to subsection 6.5.3, “Setup on the ”Vision Master
Recovery” Screen”.

Display the ”Set Robot Axes to Recover” screen

Display the “Set Ro bot Axes to Recover” screen fro m the “Vision Master
Recovery” screen.
For details, refer to subsection 6 .5.4, “Setting Robot Axes to Recover”.
詳細 「 復 す 軸 定 を参照 さ

Setup on the “Set Robot Ax es to Recover” screen

Set robot axes to recover.

Display the ”Create Program” screen

Display the “Create Program” screen fro m the “Vision Master

Recovery” screen.
For details, refer to subsection 6 .5.5, “Generating a Measurement
Program”.

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6.VISION MASTER RECOVERY B-83724EN/02

Choose camera type (7DC2/02 or later)

Set the focal distance of lens, the grid spacing of the

calibration grid, the exposure time of vision detection.

Teach the reference pose

Teach the reference pose of the measuring program. (The reference pose is
also used as a start position when measuring the camera position.)

Measure the camera position

Measure the camera position and the calibration grid position that are
used for generating the TP program.

Set swing angles of measuring poses

Set swing angles which are used for generating the measurement program.

Generate measurement program

Confirm the evaluation index of reference and the evaluation index of

recovery are smaller than 4.2. If the evaluation index of reference or/and
the evaluation index of recovery is/are bigger than 4.2, increase the swing
angles and re-generate the measurement program. If the evaluation index
of reference or/and the evaluation index of recovery is/are bigger than 4.2
even when swing angles are equal to (45, 45, 45), increase the distance
between the camera and the calibration grid and re-generate the
measurement program.

Execute the measurement program for reference

Execute the measurement program for reference.

For details, refer to subsection 6.5.6, “Executing the Measurement
Program for Reference”.

Execute the measurement program for reference.

Display ”Check the Measurement for Reference ” screen

Display the “Check the Measurement for Reference” screen from the
“Vision Master Recovery” screen.
For details, refer to subsection 6.5.7, “Executing the Measurement
Program for Check”.

Execute the measurement program for check.

Execute the measurement program to check if the measurement program

for reference completed successfully. If the evaluation index of reference is
bigger than 4.2, re-generate the measurement program. If the max
measurement error is bigger than 0.5mm, execute the measurement for
reference again.

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B-83724EN/02 6.VISION MASTER RECOVERY

Replace robot parts and set temporary mastering data

Replace robot parts. Please do not change installed or fixed positions of the
camera and the calibration grid during replacement of robot parts. After
replacing robot parts, set temporary mastering data to the axes the
mastering status of which are invalid.
For details, refer to subsection 6.5.8, “Replacing Robot Parts and Set
Temporary Mastering Data”.

Execute the measurement program for recovery

Execute the measurement program for recovery.

For details, refer to subsection 6.5.9, “Executing the Measurement
Program for Recovery”.

Execute the measurement program for recovery

Recover mastering status

Recover mastering status.

For details, refer to subsection 6.5.10, “Recovering Mastering Status”.

Calculate and check mastering data

Update mastering data

If maximum absolute value of calculated compensation angles is bigger

than 1 degree and/or the max recovery error is bigger than 0.5mm, execute
the measurement program for recovery again after updating mastering
data.

View and save recovering results

View the recovering results.

Output the recovering results as a log file named as VCMR_LOG.TXT.

For details, refer to subsection 6.5.11, “Viewing and Saving Recovering
Results”.

6.5.2 Displaying the ”Vision Master Recovery" Screen

Procedure 6-1 Displaying the "Vision Master Recovery" screen
Step
1 Press the MENU key.
2 Select "UTILITIES".
3 Press F1［TYPE］.
4 Select "iRCalibration".

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6.VISION MASTER RECOVERY B-83724EN/02

The following screen appears on the teach pendant.

The available item list of iRCalibration functions is displayed in this screen. The items to be displayed
are different depending on which options are installed.

UTILITIES iRCalibration
2/2
1 Vision Mastering
2 Vision Master Recovery

[ TYPE ]DISP_IMG DETAIL

5 Move the cursor to “Vision Master Recovery”, then press the F3 (DETAIL) or the ENTER key.

The following “Vision Master Recovery” screen is displayed on the teach pendant.

UTILITIES iRCalibration
Vision Master Recovery 1/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Not Done)
4 Create Program (Not Done)
5 Run for Reference:VMRCV1 (Not Done)
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ]DISP_IMG

Select and execute each item on the screen sequentially from the top so that the mastering status can be
recovered. Robot parts will be replaced between “Check the Measurement for Reference” and “Run for
Recovery”.

6.5.3 Setup on the ”Vision Master Recovery” Screen

There are two setup items on the “Vision Master Recovery” screen
• Robot Group Number
• Work Tool Frame Number

Set Robot Group Number

Move the cursor to “Robot Group” on the “Vision Master Recovery” screen, and enter the group number
of the robot to have its mastering status recovered.

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B-83724EN/02 6.VISION MASTER RECOVERY

UTILITIES iRCalibration
Vision Master Recovery 1/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Not Done)
4 Create Program (Not Done)
5 Run for Reference:VMRCV1 (Not Done)
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ]DISP_IMG

Set Work Tool Frame Number

Move the cursor to “Work Tool Frame Number” on the “Vision Master Recovery“ screen, and then enter
the tool frame number to be used for vision measurement.

UTILITIES iRCalibration
Vision Master Recovery 2/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Not Done)
4 Create Program (Not Done)
5 Run for Reference:VMRCV1 (Not Done)
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ]DISP_IMG

6.5.4 Setting Robot Axes to Recover

Procedure 6-2 Setting robot axes to recover
Step
1 Move the cursor to “Set Robot Axes to Recover” on the “Vision Master Recovery” screen, and press
the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Vision Master Recovery 3/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Not Done)
4 Create Program (Not Done)
5 Run for Reference:VMRCV1 (Not Done)
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the “Set Robot Axes to Recover” screen as shown below.

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6.VISION MASTER RECOVERY B-83724EN/02

UTILITIES iRCalibration
Vision Master Recovery 1/6
Set Robot Axes to Recover
1 Recover J1-Axis: FALSE
2 Recover J2-Axis: FALSE
3 Recover J3-Axis: FALSE
4 Recover J4-Axis: FALSE
5 Recover J5-Axis: FALSE
6 Recover J6-Axis: FALSE

[ TYPE ] TRUE FALSE

2 The axis to recover can be set by moving the cursor to the axis and pressing the SHIFT key and the
F4 (TRUE) key together. Plural axes can be set as the axes to recover. The setting of the axis to
recover can be cancelled by pressing the SHIFT key and the F5 (FALSE) key together.

UTILITIES iRCalibration
Vision Master Recovery 6/6
Set Robot Axes to Recover
1 Recover J1-Axis: FALSE
2 Recover J2-Axis: TRUE
3 Recover J3-Axis: TRUE
4 Recover J4-Axis: FALSE
5 Recover J5-Axis: FALSE
6 Recover J6-Axis: TRUE

[ TYPE ] TRUE FALSE

3 When setting robot axes to recover is completed, press the PREV key to display the “Vision
Master Recovery” screen.

6.5.5 Generating a Measurement Program

Procedure 6-3 Generating a measurement program
Condition
• Make sure that the status of “Set Robot Axes to Recover” is “Done”.
Step
1 Move the cursor to “Create Program” on the “Vision Master Recovery“ screen, and press the F4
(SELECT) key or the ENTER key.

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B-83724EN/02 6.VISION MASTER RECOVERY

UTILITIES iRCalibration
Vision Master Recovery 4/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Done )
4 Create Program (Not Done)
5 Run for Reference:VMRCV1 (Not Done)
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the “Create Program” screen as shown below.

UTILITIES iRCalibration
Vision Master Recovery 1/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
[ TYPE ] [CHOICE]

2 Set the camera type. (7DC2/02 (V8.20/P02) or later)

"SONY XC-56", "BASLER acA640-20um", "KOWA SC36MF", or "iRVision camera" can be
selected as the camera type.
If a "SONY XC-56" camera is connected to JRL7 port of the main board or JRL7A port of the
multiplexer, select "SONY XC-56" as the camera type.
If the camera is set up on the iRVision setup screen, change camera type from "SONY XC-56" to
"iRVision Camera" and choose the camera data of iRVision in next line.
For details, please refer to "3.5 USING iRVision CAMERA".

UTILITIES iRCalibration
Vision Master Recovery 1/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
[ TYPE ] [CHOICE]

3 Set the focal distance (mm) of the camera lens to be used.

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6.VISION MASTER RECOVERY B-83724EN/02

UTILITIES iRCalibration
Vision Master Recovery 2/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
[ TYPE ]DISP_IMG

4 Set the grid spacing (mm) of the calibration grid to be used.

UTILITIES iRCalibration
Vision Master Recovery 3/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
[ TYPE ]DISP_IMG

5 Set the exposure time (ms) for vision measurement.

UTILITIES iRCalibration
Vision Master Recovery 4/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
[ TYPE ] TIME+ TIME- LIVE FIND

Refer to subsection 3.2 “DISPLAYING THE RUNTIME MONITOR” so that an image and the
“Create Program” screen can be seen simultaneously. The following explains an example of
displaying an image and the “Create Program” screen simultaneously on iPendant. The display on
the teach pendant is shown below.

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B-83724EN/02 6.VISION MASTER RECOVERY

UTILITIES iRCalibration iRVision Runtime Display

Vision Master Recovery 4/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****

[ TYPE ] TIME+ TIME- LIVE FIND

Set the exposure time on this screen by using function keys.

Function key functions
F2 (TIME+): Increases the “Exposure Time” value.
F3 (TIME-): Decreases the “Exposure Time” value.
F4 (LIVE): Displays the live image.
F5 (FIND): Detects the calibration grid. If the detection has succeeded, a + mark is displayed
on the dot detected. If the detection has failed, an error message is displayed.

NOTE
Pressing the F2 or the F3 key while holding down the SHIFT key changes the
value at a faster rate.

NOTE
Vision Master Recovery uses the exposure time set in this screen.
The exposure time setting in “Parameter Setting Screen” or “Mode Teaching
Screen” of the Vision Data Setup Screen does not apply here.

Appropriate exposure time:

Adjust the exposure time so that the image does not become pure white but rather gray in the lightest area
of on the calibration grid. And, adjust the exposure time such that the white background and black
circles can be clearly distinguished.
Some image samples with different exposure times are shown below.

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6.VISION MASTER RECOVERY B-83724EN/02

Calibration grid image with Calibration grid image with Calibration grid image with
too short exposure time appropriate exposure time too long exposure time

6 Move the robot and teach the reference pose so that the origin of the calibration grid is near the
center of the camera image.

UTILITIES iRCalibration iRVision Runtime Display

Vision Master Recovery 5/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: UNINIT
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0

7 Swing Angle W: 20.0 deg

8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****

[ TYPE ] MOVE_TO RECORD

Move the cursor to “Reference Pose” on the “Create Program” screen, and then press the SHIFT key and
the F5 (RECORD) key together.
The current position is stored as reference pose. The display on the teach pendant is shown below.

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B-83724EN/02 6.VISION MASTER RECOVERY

UTILITIES iRCalibration iRVision Runtime Display

Vision Master Recovery 5/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****
Reference pose is recorded

[ TYPE ] MOVE_TO RECORD

NOTE
If the “Reference Pose is “Recorded”, you can move the robot to the reference
position by pressing the F4 (MOVE_TO) key while holding down the SHIFT
key ..

7 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, and measure the
camera position. If T1 mode is selected, the override can be improved more than 30%.

The camera position is measured while the robot automatically moves into multiple poses, with the
reference pose as a measurement start pose. The robot automatically moves several centimeters in the
directions orthogonal to X, Y, and Z and by about 15 degrees in the pose directions of W, P, and R. The
camera position and calibration grid position are calculated based on the results of the vision
measurement.

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6.VISION MASTER RECOVERY B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 6/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56
2 Focal Distance: 12.0 mm
3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****

[ TYPE ] SELECT

Move the cursor to “Measure Camera Position”, then press the SHIFT key and the F4(SELECT) key
together.

The camera position will be measured. During measurement, the teach pendant displays the following
screen.

VCMRVTCP: 5/8 T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 6/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Not Done)
Camera Position:
X: 0.0 Y: 0.0 Z: 0.0
W: 0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 0.0 Y: 0.0 Z: 0.0
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****
Camera position is being measured

[ TYPE ]

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B-83724EN/02 6.VISION MASTER RECOVERY

NOTE
1 If the camera attachment position or the calibration grid position is changed,
measure the camera position again.
2 Keep pressing the SHIFT key during the measurement. For 7DC3/09
(V8.30P/09) or earlier software, if pressing the SHIFT key is interrupted,
resuming the measurement makes it restart from the beginning. For 7DC3/10
(V8.30P/10) or later software, when you resume the measurement after the
interruption, if a part of the measurement has been completed, a confirmation
message to select “RESUME” or “RESTART” is displayed. Then, if “RESUME” is
selected, the measurement is resumed. If “RESTART” is selected, the
measurement is restarted from the beginning. If the camera attachment position
or the calibration grid position is changed, select "RESTART".
3 An attempt to perform camera position measurement during execution of
another program causes an error with the following error message displayed:
"INTP-313 (Z_VCLIB2,384) Motion statement failed, PROG-040 Already locked
by other task"
In this case, select "ABORT (ALL)" on the FCTN menu to terminate the program.

When the measurement is finished, the display on the teach pendant screen is as follows:
• The status of “Measure Camera Position” becomes “Done”.
• The message “Camera position is measured” appears.
• The result of the measurement is displayed.
Measurement result:
• Camera Position: Position of visual TCP
• Calibration Grid Position: Origin position of calibration grid

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 6/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: -0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: 0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****
Camera position is measured

[ TYPE ] SELECT

8 Set the swing angles W, P, and R of measuring poses for Vision Master Recovery. For details on
measuring poses, see subsection 6.3.1, “Outline of Measuring Poses”.

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6.VISION MASTER RECOVERY B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 7/10
Create Program
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: -0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: 0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****

[ TYPE ] DISP_IMG

The recommended range for “Swing Angle W/P” is 20 to 45 degrees.

The recommended range for “Swing Angle R” is 30 to 45 degrees.

NOTE
Increasing the swing angle improves the recovery accuracy of the mastering
status but requires a wider operating range.

NOTE
If swing angle W or P exceeds 45 degrees, it may be impossible to perform
vision measurement. Do not allow swing angle W or P to exceed 45 degrees.

9 Move the cursor to “Create Program”, then press the F4 (SELECT) key or the ENTER key to
generate a measurement program.

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B-83724EN/02 6.VISION MASTER RECOVERY

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 10/10
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: -0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: 0.0 Z: 884.8
7 Swing Angle W: 20.0 deg
8 P: 20.0 deg
9 R: 30.0 deg
10 Create Program (Not Done)
Evaluation Index of Reference: *****
Evaluation Index of Recovery: *****

[ TYPE ] SELECT

Upon completion of the generation of the measurement program, the screen on the teach pendant changes
as shown below.
• The “Create Program” status becomes “Done”.
• The message “Program is created” is displayed.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 10/10
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: -0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: 0.0 Z: 884.8
7 Swing Angle W: 30.0 deg
8 P: 30.0 deg
9 R: 45.0 deg
10 Create Program (Done )
Evaluation Index of Reference: 1.0
Evaluation Index of Recovery: .0
Program is created

[ TYPE ] SELECT

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6.VISION MASTER RECOVERY B-83724EN/02

When robot group is 1, TP program VMRCV1, VMRDAT11, VMRDAT12, and VMRDAT13 are
generated. The first number of VMRCV1, VMRDAT11, VMRDAT12, and VMRDAT13 indicates a
robot group.

10 Check the evaluation index of reference and the evaluation index of recovery. If the evaluation index
of reference and/or the evaluation index of recovery are/is greater than 4.2, start at Step 8 over again.
If the Evaluation Indices still are not improved, re-teach the reference pose to set the camera away
from the calibration grid, and start at Step 6 again.

If a measurement program is generated with one already existing, the teach pendant displays the
following message.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 10/10
Robot Group [ 1]
Work Tool Frame[ 9]
1 Camera Type: SONY XC-56

2 Focal Distance: 12.0 mm

3 Grid Spacing: 15.0 mm
4 Exposure Time: 33.33 ms
5 Reference Pose: RECORDED
6 Measure Camera Position (Done )
Camera Position:
X: 275.4 Y: 0.0 Z: 0.0
W: -0.0 P: 0.0 R: 0.0
Calibration Grid Position:
X: 1674.8 Y: 0.0 Z: 884.8
7 Swing Angle W: 30.0 deg
8 P: 30.0 deg
9 R: 45.0 deg
10 Create Program (Done )
Evaluation Index of Reference: 1.0
Evaluation Index of Recovery: .0
OK to Delete & Re-generate program?

[ TYPE ] YES NO

If the F4 (YES) key is selected, a new measurement program is generated.

If the F5 (NO) key is selected, a new measurement program is not generated, but the Evaluation Indices
of an existing program are recalculated.

11 When generating is finished, select the PREV key to display the “Vision Master Recovery” screen.

6.5.6 Executing the Measurement Program for Reference

Procedure 6-4 Execute the measurement program for reference
Condition
• Make sure that the status of “Create Program” is “Done”.
Step
1 Move the cursor to “Run for Reference”, and press the F4 (SELECT) key or the ENTER key.

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B-83724EN/02 6.VISION MASTER RECOVERY

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 5/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Done )
4 Create Program (Done )
5 Run for Reference:VMRCV1 (Not Done)
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ] DISP_IMG SELECT

The measurement program edit screen is displayed.

T2 30 %
VMRCV1 iRVision Runtime Display
1/113
1: UTOOL_NUM=9
2: UFRAME_NUM=0
3:
4:J @P[28] 30% FINE
5:
6:L P[1] 500mm/sec FINE
7: CALL VCMR_VT(1)
8:L @P[28] 500mm/sec CNT0
9:
10:L P[2] 500mm/sec FINE
11: CALL VCMR_VT(2)
12:L @P[28] 500mm/sec CNT0
13:
14:L P[3] 500mm/sec FINE
15: CALL VCMR_VT(3)
16:L @P[28] 500mm/sec CNT0
17:
18:L P[4] 500mm/sec FINE
19: CALL VCMR_VT(4)
20:L @P[28] 500mm/sec CNT0
21:

POINT TOUCHUP >

2 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, and run the
program displayed. If T1 mode is selected, the override can be improved more than 30%.

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6.VISION MASTER RECOVERY B-83724EN/02

NOTE
If the robot cannot move to any of positions [1] to [27] during execution of the
measurement program, make sure that the calibration grid resides within the
field of view of the camera, then re-teach a position to which the robot can move.

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “6.6.1 TP Program”.
For 7DC3/10 (V8.30P/10) or later software, when the measurement is
interrupted by the release of the SHIFT key, the occurrence of an alarm or other
reasons, re-execute the TP program after moving the cursor to the first line. If a
part of the measurement has been completed, a message “Press 0 (restart) or 9
(resume)” appears. Press the 0 key to restart the measurement from the
beginning or the 9 key to resume the measurement.

NOTE
If the camera attachment position or the calibration grid position is changed,
measure the camera position and generate the measurement program in “6.5.5
Generating a Measurement Program” again.

3 When the measurement has been completed, display the “Vision Master Recovery” screen (see
Section 6.5.2, “Displaying the “Vision Master Recovery” screen”).

6.5.7 Execute the Measurement Program for Check

Procedure 6-5 Execute the measurement program for check
Condition
• Make sure that the status of “Run for Reference” is “Done”.
Step
1 Move the cursor to “Check the Measurement for Reference”, and then press the F4 (SELECT) or the
ENTER key.

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B-83724EN/02 6.VISION MASTER RECOVERY

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 6/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Done )
4 Create Program (Done )
5 Run for Reference:VMRCV1 (Done )
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ] DISP_IMG SELECT

The teach pendant displays the “Check the Measurement for Reference” screen as shown below.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 1/1
Check the Measurement for Reference
Robot Group [ 1]
1 Run For Check: VMRCV1 (Not Done)
Evaluation Index of Reference: *****
Mean Measurement Error: *****
Max Measurement Error: *****

[ TYPE ] SELECT

2 Press the F4 (SELECT) key or the ENTER key.

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6.VISION MASTER RECOVERY B-83724EN/02

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 1/1
Check the Measurement for Reference
Robot Group [ 1]
1 Run For Check: VMRCV1 (Not Done)
Evaluation Index of Reference: *****
Mean Measurement Error: *****
Max Measurement Error: *****

[ TYPE ] SELECT

The measurement program edit screen is displayed.

T2 30 %
VMRCV1 iRVision Runtime Display
1/113
1: UTOOL_NUM=9
2: UFRAME_NUM=0
3:
4:J @P[28] 30% FINE
5:
6:L P[1] 500mm/sec FINE
7: CALL VCMR_VT(1)
8:L @P[28] 500mm/sec CNT0
9:
10:L P[2] 500mm/sec FINE
11: CALL VCMR_VT(2)
12:L @P[28] 500mm/sec CNT0
13:
14:L P[3] 500mm/sec FINE
15: CALL VCMR_VT(3)
16:L @P[28] 500mm/sec CNT0
17:
18:L P[4] 500mm/sec FINE
19: CALL VCMR_VT(4)
20:L @P[28] 500mm/sec CNT0
21:

POINT TOUCHUP >

3 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, then run the
displayed program. If T1 mode is selected, the override can be improved more than 30%.

CAUTION
Please don’t re-teach positions [1] to [27] of measurement program when this
program is executed for check.
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B-83724EN/02 6.VISION MASTER RECOVERY

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “6.6.1 TP Program”.
For 7DC3/10 (V8.30P/10) or later software, when the measurement is
interrupted by the release of the SHIFT key, the occurrence of an alarm or other
reasons, re-execute the TP program after moving the cursor to the first line. If a
part of the measurement has been completed, a message “Press 0 (restart) or 9
(resume)” appears. Press the 0 key to restart the measurement from the
beginning or the 9 key to resume the measurement.

NOTE
If the camera attachment position or the calibration grid position is changed,
measure the camera position and generate the measurement program in “6.5.5
Generating a Measurement Program”, and execute the measurement program
for reference in "6.5.6 Executing the Measurement Program for Reference"
again.

4 When the measurement has been completed, display the “Vision Master Recovery” screen (see
Section 6.5.2, "Displaying the “Vision Master Recovery” screen").

5 Move the cursor to “Check the Measurement for Reference”, then press the F4 (SELECT) key or the
ENTER key to display the “Check the Measurement for Reference” screen again.

The values of evaluation index of reference, mean measurement error, and max measurement error are
displayed on the teach pendant.
T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 1/1
Check the Measurement for Reference
Robot Group [ 1]
1 Run For Check: VMRCV1 (Done )
Evaluation Index of Reference: 3.5
Mean Measurement Error: .030
Max Measurement Error: .050

[ TYPE ] SELECT

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6.VISION MASTER RECOVERY B-83724EN/02

Display items on “Check the Measurement for Reference” screen

Evaluation Index of Reference
This item indicates the evaluation index of the actual poses of the measurement program for
reference

Mean Measurement Error

This item indicates the mean value [mm] of difference between visual TCP positions which are
calculated by executing the measurement program for reference and visual TCP positions which are
calculated by executing the measurement program for check (27 measurement poses).

Max Measurement Error

This item indicates the max value [mm] of difference between visual TCP positions which are
calculated by executing the measurement program for reference and visual TCP positions which are
calculated by executing the measurement program for check (27 measurement poses).

Confirmation
• Confirm that the evaluation index of reference is 4.2 or less.
If the evaluation index of reference exceeds 4.2, there is a possibility that the calculation error of
mastering parameters is large. Re-generate the measurement program with the maximum swing
angle increased on the “Create Program” screen, and execute the program for reference and the
program for check again.
• Confirm that the max measurement error is about 0.5mm or less.
If the max measurement error is considerably larger than the above value, possible causes are that
the lens or camera is not secured, the lens is out of focus, and that the calibration grid is not secured.
Check these causes and execute the program for reference and the program for check again.

6 When the confirmation of evaluation index of reference, mean measurement error, and max
measurement error have been finished, press the PREV key to display the “Vision Master Recovery”
screen.

6.5.8 Replacing Robot Parts and Set Temporary Mastering Data

Procedure 6-6 Replacing robot parts and set temporary mastering data
Condition
• Make sure that the status of “Run For Check” on “Check the Measurement for reference” screen is
“Done”.

Step
1 Replace robot parts. For details on replacing robot parts, contact your local FANUC representative.

CAUTION
Installed or fixed positions of the camera and the calibration grid when executing
the measurement program for reference and installed or fixed positions of the
camera and the calibration grid when executing the measurement program for
recovery must be equal respectively. Please do not change installed or fixed
positions of the camera and the calibration grid during replacement of robot
parts.

2 After replacement of robot parts, set temporary mastering data to the axes the mastering status of
which are/is invalid by using single axis mastering etc., and perform calibration.

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B-83724EN/02 6.VISION MASTER RECOVERY

NOTE
Temporary mastering does not require a high level of precision.

6.5.9 Executing the Measurement Program for Recovery

Procedure 6-7 Executing the measurement program for recovery
Condition
• Make sure that robot parts have been replaced and temporary mastering data have been set.

Step
1 Move the cursor to “Run for Recovery”, and press the F4 (SELECT) key or the ENTER key.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Master Recovery 7/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Done )
4 Create Program (Done )
5 Run for Reference:VMRCV1 (Done )
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Not Done)
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ] DISP_IMG SELECT

The measurement program edit screen is displayed.

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6.VISION MASTER RECOVERY B-83724EN/02

T2 30 %
VMRCV1 iRVision Runtime Display
1/113
1: UTOOL_NUM=9
2: UFRAME_NUM=0
3:
4:J @P[28] 30% FINE
5:
6:L P[1] 500mm/sec FINE
7: CALL VCMR_VT(1)
8:L @P[28] 500mm/sec CNT0
9:
10:L P[2] 500mm/sec FINE
11: CALL VCMR_VT(2)
12:L @P[28] 500mm/sec CNT0
13:
14:L P[3] 500mm/sec FINE
15: CALL VCMR_VT(3)
16:L @P[28] 500mm/sec CNT0
17:
18:L P[4] 500mm/sec FINE
19: CALL VCMR_VT(4)
20:L @P[28] 500mm/sec CNT0
21:

POINT TOUCHUP >

2 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, then run the
displayed program. If T1 mode is selected, the override can be improved more than 30%.

CAUTION
Please do not re-teach positions [1] to [27] of the measurement program when
this program is executed for recovery.

NOTE
If the result of temporary mastering differs too much from the status of mastering
before replacement of robot parts, one of four big circles may be out of the field
of view. The error, “CVIS-20 Big circles cannot be distinguished” is posted. If
such a case occurs, please retry setting temporary mastering data.

CAUTION
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “6.6.1 TP Program”.
For 7DC3/10 (V8.30P/10) or later software, when the measurement is
interrupted by the release of the SHIFT key, the occurrence of an alarm or other
reasons, re-execute the TP program after moving the cursor to the first line. If a
part of the measurement has been completed, a message “Press 0 (restart) or 9
(resume)” appears. Press the 0 key to restart the measurement from the
beginning or the 9 key to resume the measurement.

3 When the measurement has been completed, display the “Vision Master Recovery” screen (see
Section 6.5.2, "Displaying the “Vision Master Recovery” screen").

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B-83724EN/02 6.VISION MASTER RECOVERY

6.5.10 Recovering Mastering Status

Procedure 6-8 Recovering mastering status
Condition
• Make sure that the status of “Run for Recovery” is “Done”.

Step
1 Move the cursor to “Recover Master CT”, and press the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Vision Master Recovery 8/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Done )
4 Create Program (Done )
5 Run for Reference:VMRCV1 (Done )
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Done )
8 Recover Master CT (Not Done)
9 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the “Recover Master CT” screen as shown below.

UTILITIES iRCalibration
Vision Master Recovery
Recover Master CT
Robot Group [ 1]
Evaluation Index of Recovery: .7
Mean Recovery Error: .002
Max Recovery Error: .030
Compensation Angles:
J1: 0.000 J2: -0.000
J3: 0.000 J4: 0.000
J5: 0.000 J6: -0.000

[ TYPE ] UPDATE

NOTE
The mastering status is not recovered yet at this point.
2 Confirm the items displayed. If there is no problem, update mastering data by pressing the F3
(UPDATE) key while holding down the SHIFT key.

Display items on Recover Master CT screen

Compensation Angles
This item indicates the compensation angles for the angular displacement shifted from the zero
position for each rotation axis [degree].

Evaluation Index of Recovery

This item indicates the evaluation Index of the actual poses of the measurement program for
recovery

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6.VISION MASTER RECOVERY B-83724EN/02

Mean Recovery Error

This item indicates the mean value [mm] of difference between visual TCP positions which are
calculated by executing the measurement program for reference and visual TCP positions which are
calculated by executing the measurement program for recovery (27 measurement poses).

Max Recovery Error

This item indicates the max value [mm] of the difference between visual TCP positions which are
calculated by executing the measurement program for reference and visual TCP positions which are
calculated by executing the measurement program for recovery (27 measurement poses).

Confirmation
• Confirm that absolute values of compensation angles are 1° or less.
If either absolute values of compensation angle are exceeding 1°, update mastering data and
execute the measurement program for recovery again, and confirm that the absolute value of
compensation angles displayed on “Recover Master CT” screen becomes smaller.
• Confirm that the max recovery error is about 0.5mm or less.
If the max recovery error is considerably larger than the above value, possible causes are that
the lens or camera is not secured, the lens is out of focus, and that the calibration grid is not
secured. Check these causes and execute the program for recovery again.

NOTE
“Max Recovery Error” can be larger than the above approximate value in these
cases:
• Tool attached to the robot is heavy.
• Robot holds heavy workpieces.
• Individual difference between the robot parts before replacement and the
robot parts after replacement is large.
• Update mastering data.
• Execute the measurement program for recovery.
• Confirm “Compensation Angles” and “Max Recovery Error” on “Recover
Master CT” screen.
Even though “Max Recovery Error” has not changed, if “Compensation Angles”
becomes smaller, the result of Vision Master Recovery can be regarded as OK.

3 After updating the mastering data, set the reference position for Quick Mastering again, preparing
for future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For
details of Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

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B-83724EN/02 6.VISION MASTER RECOVERY

6.5.11 Viewing and Saving Recovering Results

Procedure 6-9 Viewing and saving recovering results
Step
1 Move the cursor to “View Result”, then press the F4 (SELECT) key or the ENTER key.

UTILITIES iRCalibration
Vision Master Recovery 9/9
1 Robot Group: 1
2 Work Tool Frame Number: 9
3 Set Robot Axes to Recover (Done )
4 Create Program (Done )
5 Run for Reference:VMRCV1 (Done )
6 Check the Measurement for Reference
7 Run for Recovery: VMRCV1 (Done )
8 Recover Master CT (Done )
9 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the “View Result” screen as shown below.

UTILITIES iRCalibration
Vision Master Recovery
View Result Page 1
Robot Group [ 1]
Check the Measurement for Reference
Evaluation Index of Reference: 3.5
Mean Measurement Error: .030
Max Measurement Error: .050
Recover Master CT
Evaluation Index of Recovery: .7
Mean Recovery Error: .002
Max Recovery Error: .030

[ TYPE ] NEXTPAGE OUTPUT

Function key
F4(NEXTPAGE): Displays the next page.
F5(OUTPUT): Saves the results of Vision Master Recovery to VCMR_LOG.TXT. You can
use the File I/O menu to set the device (memory card or USB memory) where
the file is located. For details of using the file I/O menu, please refer to
"R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic Operation)".

NOTE
If VCMR_LOG.TXT already exists, the new results are appended to the current
contents.

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6.VISION MASTER RECOVERY B-83724EN/02

6.6 DETAILS OF TP PROGRAMS AND LOG FILE

6.6.1 TP Program
TP Program for Measurement
VMRCVn(n: robot group)

0 LINE
G1 JOINT 10 %
1: UTOOL_NUM=9 ;
2: UFRAME_NUM=0 ;
3: ;
4:J P[28] 30% FINE ;
5: ;
6:L P[1] 500mm/sec FINE ;
7: CALL VCMR_VT(1) ;
8:L P[28] 500mm/sec CNT0 ;
9: ;
10:L P[2] 500mm/sec FINE ;
11: CALL VCMR_VT(2) ;
12:L P[28] 500mm/sec CNT0 ;
13: ;
･･･
106:L P[26] 500mm/sec FINE ;
107: CALL VCMR_VT(26) ;
108:L P[28] 500mm/sec CNT0 ;
;
110:L P[27] 500mm/sec FINE ;
111: CALL VCMR_VT(27) ;
112:L P[28] 500mm/sec CNT0 ;
[END]

In position 1 to 27, the initial positions for measurements are recorded.

In position 28, the reference positions are recorded. (In the measurement it is used as start position for
each measuring position)
VCMR_VT： Karel program for positioning by vision
VCMR_VT(position number)

For 7DC3/10 (V8.30P/10) or later software, call instructions of the program VCRSM_CHECK, label
instructions, and jump instructions are added to the TP program as below so that efficient resuming of the
measurement can done.

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B-83724EN/02 6.VISION MASTER RECOVERY

0 LINE
G1 JOINT 10 %
1: CALL VCRSM_CHECK('START') ;
2: UTOOL_NUM=9 ;
3: UFRAME_NUM=0 ;
4: ;
5: IF $VCRSM_CFG.$STEP_NUM>=2,
JMP LBL[2] ;
6: CALL VCRSM_CHECK(1) ;
7:J P[28] 30% FINE ;
8:L P[1] 500mm/sec FINE ;
9: CALL VCMR_VT(1,0) ;
10: ;
11: LBL[2] ;
12: IF $VCRSM_CFG.$STEP_NUM>=3,
JMP LBL[3] ;
13: CALL VCRSM_CHECK(2) ;
14:L P[28] 500mm/sec CNT0 ;
15:L P[2] 500mm/sec FINE ;
16: CALL VCMR_VT(2,0) ;
･･･
179: LBL[26] ;
180: IF $VCRSM_CFG.$STEP_NUM>=27,
JMP LBL[27] ;
181: CALL VCRSM_CHECK(26) ;
182:L P[28] 500mm/sec CNT0 ;
183:L P[26] 500mm/sec FINE ;
184: CALL VCMR_VT(26,0) ;
185: ;
186: LBL[27] ;
187: CALL VCRSM_CHECK(27) ;
188:L P[28] 500mm/sec CNT0 ;
189:L P[27] 500mm/sec FINE ;
190: CALL VCMR_VT(27,0) ;
191: ;
192: CALL VCRSM_CHECK('END') ;
193:L P[28] 500mm/sec CNT0 ;
[END]

VCRSM_CHECK： Karel program related to the resuming of the measurement.

The argument is to be ‘START’, ‘END’ or measurement number.

TP Program for Recording the Measuring Results

VMRDATnm( n: robot group, m=1: for reference, m=2: for recovery, m=3: for check)

0 LINE
G1 JOINT 10 %
1: UTOOL_NUM=9 ;
2: UFRAME_NUM=0 ;
3: ;
4:L P[1] 500mm/sec FINE ;
5:L P[2] 500mm/sec FINE ;
･･･
29: L P[26] 500mm/sec FINE ;
30: L P[27] 500mm/sec FINE ;
[END]

In position 1 to 27, the positioning results are recorded.

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6.VISION MASTER RECOVERY B-83724EN/02

6.6.2 Log File

Log File of the Vision Master Recovery Result
VCMR_LOG.TXT

iRCal ibra tion VM R ecove ry L og F ile

Robot Gro up [ 1]
Robot Mod el: R-20 00iB /165F
Robot Num ber: F000 00
Soft Vers ion: V8.2 0P/1 2
Measu re T ime: 28-M AR-1 4 21: 35
Log T ime: 28-M AR-1 4 21: 35

Robot Axe s to Reco ver

[1]: 0 [2 ]: 1 [3]: 1
[4]: 0 [5 ]: 0 [6]: 0

Camer a Po siti on:

X: -16 6.88 6 Y: -1 0.09 1 Z: 12 15.1 19
W: -.88 7 P: .55 5 R: -1 76.8 44

Focal Dis tanc e: 1 2.0m m

Grid Spac ing: 1 5.0m m

Targe t Po siti on:

X: 122 3.02 3 Y: -3 1.16 0 Z: -3 34.9 92

New M aste r Co unts:

[1]: - 888
[2]: 654 004
[3]: - 1491 513
[4]: 13 8859 409
[5]: 818 453
[6]: 1 6451 966
[7]: 0
[8]: 0
[9]: 0

Compe nsat ion Angle s:

[1]: 0 .000 [2]: .196 [3] : .10 1
[4]: 0 .000 [5]: 0 .000 [6] : 0.00 0

Run f or R efer ence

Evalu atio n In dex: 4. 1
Mean Meas urem ent E rror: .14 0
Max M easu reme nt Er ror: .21 3

Run f or R ecov ery

Evalu atio n In dex: 1. 2
Mean Reco very Erro r: .06 1
Max R ecov ery Error : .21 2

Origi n Ma ster Coun ts:

[1]: - 888
[2]: 737 100
[3]: - 1374 420
[4]: 13 8859 409
[5]: 818 453
[6]: 1 6451 966
[7]: 0
[8]: 0
[9]: 0

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B-83724EN/02 6.VISION MASTER RECOVERY

6.7 AVAILABLE TARGET

The available target is the calibration grid for Vision Master Recovery.

6.7.1 Calibration Grid

The available calibration grid for Vision Master Recovery should satisfy the specification shown as
below.
X

Grid Spacing
Fig. 6.7.1 Calibration Grid

All of the black circles are arranged so that they are uniformly spaced horizontally and perpendicularly.
Four larger black circles placed in the vicinity of the center indicate the origin and directions of a
coordinate system as shown. The ratio of the diameter of a large circle to that of a small circle is about
10:6.

The size of the calibration grid should be selected to fit the view field of the camera.
The aim of selection is set as below:
When the standoff (the distance between the lens of the camera and the calibration grid) is set as about
500mm, the longest distance among three larger black circles along the X-axis is equal to 1/4 to 1/5 of the
length of the view filed of the camera.

The calibration grids for iRVision shown as below are available.

List 6.7.1 Calibration Grid (for iRVision)

Type Size (mm) Grid Spacing (mm)
Camera Calibration Plate A 100 7.5
Camera Calibration Plate B 200 15
Camera Calibration Plate C 400 30

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7.VISION AXIS MASTER B-83724EN/02

7 VISION AXIS MASTER

7.1 VISION AXIS MASTER
What is Vision Axis Master?
If mastering data of the robot is lost during maintenance or replacement of items such as the motor, the
Vision Axis Master can recover the mastering status by aligning the target mark that is attached to the
robot by vision measurement. This function can be also used if the voltage of the backup battery for
encoders drops low and mastering data is lost. This function can play a role that is achieved by using
vernier marks or mark-off lines for zero point.

Features and Limitations of Vision Axis Master

• Manual operations are simplified. In addition, this function recovers the mastering status precisely
without depending on the skill of the operator.
• This function requires the target mark and the AMU(Axis Measuring Unit).

7.2 OVERVIEW OF VISION AXIS MASTER

7.2.1 System Configuration

The Vision Axis Master system consists of a robot controller, a teach pendant (iPendant), an AMU, a
camera cable, and target marks.

iPendant AMU

Camera Cable

Robot Controller

L R

Target Mark

Fig. 7.2.1 System configuration of Vision Axis Master

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B-83724EN/02 7.VISION AXIS MASTER

7.2.2 Overview of Target Mark

• The target mark is attached to each axis of the robot.
• The target mark is detected by vision measurement of Vision Axis Master.
• the target marks are an option of the mechanical unit of the robot. Therefore, when the robot is
ordered, target marks need to be ordered together.

J4 axis J5 axis J6 axis

J3 axis

J2 axis

J1 axis

Fig. 7.2.2(a) Attaching positions of target mark sets (R-2000iB/250F)

Target sticker and target fixture

• Target marks can be classified into 2 types, “target sticker” and “target fixture”.
• Target stickers are stuck on the robot when shipping the robot. The target stickers are protected by
cover plates that prevent damage and dirt. Please detach the cover plate before measurement.

Detach the cover plate

Fig. 7.2.2(b) J2 axis of R-2000iB/250F (target sticker)

CAUTION
Please do not peel the target stickers from the robot.

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7.VISION AXIS MASTER B-83724EN/02

• Target fixtures are attached to the robot by screws or magnets. The target fixtures are attached only
when the measurement is executed, not to be broken or dirty, and not to be interfered with cables.
Target fixtures can be shared between robots of the same type.

Attach the target jig

Fig. 7.2.2(c) J6 axis of R-2000iB/250F (target fixture)

NOTE
The specification of the target mark depends on the type of the robot and the
axis for measurement. For details, refer to the “Mechanical Unit Operator’s
Manual”.

Part A and part B of target mark

• Target mark consists of two parts, “part A” and “part B” as shown in Fig. 7.2.2(d).
• Part A of the target mark has four dots for vision measurement, which are located as the capital “T”.
The capital “L” and “R” are printed on part A of the target mark to identify the direction of the target
mark easily.
• Part B of the target mark has one dot for vision measurement.

Part B

L R

Part A

Fig. 7.2.2(d) Target mark (Part A and Part B)

CV number of target fixture

• Some types of the target fixture have a CV (calibration value) number printed on a sticker. If such a
target fixture is used for the vision measurement, the CV number needs to be entered on the teach
pendant before measurement to reduce the influence of individual difference of the target fixture.

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B-83724EN/02 7.VISION AXIS MASTER

CV number
Fig. 7.2.2(e) CV number of target fixture (part A for J4 axis of R-2000iB/250F)

7.2.3 Overview of AMU

• AMU(Axis Measuring Unit) is the camera unit for Vision Axis Master.
• A red LED light is attached to the AMU. This LED light illuminates when the AMU is connected to
the robot controller and the robot controller is powered.
• There are two types of the bracket for the AMU. One is for measurement from the front side and the
other is for step measurement.

Built-in Camera

LED Light

Camera Cable

Bracket for Measurement from Front Side

Fig. 7.2.3(a) AMU attached bracket for measurement from front side

Bracket for Step Measurement

Fig. 7.2.3(b) AMU attached bracket for step measurement

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7.VISION AXIS MASTER B-83724EN/02

• As shown in Fig. 7.2.3(c), the operator manually holds the AMU in place. The bracket allows the
operator to maintain the proper standoff distance and tilt angle with respect to part A.

Part B

Part A
Place the tip of the bracket with slight pressure on the target mark

Fig. 7.2.3(c) Target mark and AMU

7.2.4 Overview of Vision Measurement

There are two types of vision measurement. One is “measurement from front side” and the other is
“measurement from right side and left side”.

Overview of measurement from front side

• As shown in Fig. 7.2.4(a), the bracket for the AMU is aligned with the front of the target mark.

Target Mark

Fig. 7.2.4(a) Position of AMU during measurement from front side

• The axis will move automatically to align the Part B dot with the Part A dots. Vision provides
feedback to the program for measurements that move the axis in the correct direction.
• The marks oscillate until a minimum threshold is satisfied and the adjustment is considered
complete.

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B-83724EN/02 7.VISION AXIS MASTER

Gap

L R L R
Fig. 7.2.4(b) Measurement from front side (moving to reference position)

Overview of measurement from right side and left side

• As shown in Fig. 7.2.4(d), Part A may be closer to the camera than Part B. This can causes an error
in the measurement if the camera is not perfectly centered. Given that the side bracket always
provides a positive fixed degree tilt for the right side and a negative fixed degree tilt from the left
side, the parallax of the two measurements can be used to determine the step interval distance. The
right and left measurements are shown in Fig 7.2.3(c). The step interval is shown in Fig 7.2.4(d).

Target Mark Target Mark

Fig. 7.2.4(c) Position of AMU during measurement from right side and left side

The front measurement bracket ensures the AMU is at a zero degree tilt, however the AMU can still be
off centered. Knowing the step interval value allows a perspective correction for the off center value.

Step Interval

Fig. 7.2.4(d) Step interval is measured by measurement from right side and left side

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7.2.5 Basic Functions

Vision Axis Master provides four basic functions:
1. Reference Data Setting
2. 1-Axis Mastering
3. Encoder Mastering
4. Step Measurement

Reference data setting function

• When executing the reference data setting function, the measurement from the front side is executed
to align the axis which has a valid mastering status. The position of the axis is saved after the
measurement is completed as the reference data in the robot controller. The unit of reference data is
a “deg” (rotational axis) or “mm” (linear axis). The Reference Data Setting function must be
performed before the 1-Axis Mastering function or the Encoder Mastering function.
• The Reference data setting function is executed in the FANUC robot factory before the robot is
shipped. There is not tool attached. However, the weight of a tool can cause an error in the reference
data. After a tool is attached, the reference data setting function should be performed and saved
again. (This new reference data needs to be used if the mastering status needs to be recovered.)

NOTE
1 Reference data of a robot consists of “reference data 1”, “reference data 2”, … ,
“reference data 10”.
2 Each reference data stores the measured reference data for all axes.
3 The reference positions that are set in the FANUC robot factory (mentioned
above) are stored in reference data 10. (Known as the factory data.)
4 The reference data number should correspond with the tool number.

NOTE
Reference data setting cannot be executed if the mastering status of at least
axis is invalid.

1-axis mastering function

When the mastering status is lost by replacement of the motor etc. it can be recovered using 1-axis
mastering, the measurement from the front side is executed to align the invalid axis. The mastering status
of the axis is recovered by calculating mastering data from reference data. 1-axis mastering recovers the
mastering status accurately, quickly, and independent of the skill of the operator.

NOTE
1 1-axis mastering cannot be applied if a robot arm or the wrist unit is replaced.
2 To reduce the influence of the tool weight on the mastering status, use reference
data that was set with the same tool.

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B-83724EN/02 7.VISION AXIS MASTER

Encoder mastering function

The Encoder mastering function is used when the mastering status is lost by the drop of the voltage of the
backup battery for encoders. By executing encoder mastering function, the measurement from the front
side is executed to align the axis. Next, the mastering status of the axis is recovered by calculating
mastering data from the reference data. The mastering result is the same as the traditional “Quick
mastering”. However, encoder mastering has an advantage over quick mastering since it is not necessary
to jog the robot precisely to the reference position.

NOTE
1 Encoder mastering cannot be applied if a robot arm, the wrist unit, a reducer, a
motor, or a pulse coder is replaced.
2 To reduce the influence of the tool weight on the mastering status of the axis to
be recovered, use reference data that was defined with the same tool.

Step measurement function

The step measurement function is used to measure the reference position and the step interval. The front
measurement and the right side left side measurements are made. This function is performed before
shipping from the factory and rarely needs to be repeated.

NOTE
1 The step interval will be changed if a robot arm or a reducer is replaced,
therefore the step measurement function will need to be executed again.
2 The step measurement cannot be executed if there is at least one axis with an
invalid mastering status.
3 No tool is attached to the robot when the step measurement is executed.
4 The all reference positions of the axis should be set again after the step
measurement function is performed.

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7.3 OPERATION OF VISION AXIS MASTER

This section describes the procedure for Vision Axis Master.

7.3.1 Operation Procedure

Install AMU and target marks

Connect AMU and controller.

Connect the AMU and the robot controller with the camera cable.

Install target marks

Detach the cover plates of the target stickers of the axes for measurement
and attach the target jigs of the axes for measurement to the robot. For
details, refer to subsection 7.3.2, “Installation of AMU and target marks”.

Display the ”Vision Axis Master” screen

Select “iRCalibratiion” from the “UTILITIES” menu, and select “Vision

Axis Master” from the “iRCalibration” menu to display the “Vision Axis
Master” screen. When the “Vision Axis Master” screen is displayed, the
image screen is displayed simultaneously. For details, refer to subsection
7.3.3, “Displaying the “Vision Axis Master” Screen”.

Reset alarms

If the alarm “Servo 062 BZAL” or “Servo 075 Pulse not established (G:i
A:j)” is posted, reset this alarm. For details, refer to subsection 7.3.4,
“Resetting Alarms”.

Set countdown

Set the period of the countdown. For details, refer to subsection 7.3.5,
“Setting Countdown”.

Set robot group number

Set the robot group number. For details, refer to subsection 7.3.6, “Setting
Robot Group Number”.

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B-83724EN/02 7.VISION AXIS MASTER

Display the ”Select Ref.Data” screen

Display the “Select Reference Data” screen from the “Vision Axis
Master” screen. For details, refer to subsection 7.3.7, “Operation in the
“Select Reference Data” Screen”.

Select reference data number

Enter the reference data number for measurement.

Display the “View Reference Data” screen

The “View Reference Data” screen can be displayed from the “Select
Reference Data” screen.

Clear reference data

The values of reference positions in a reference data can be cleared.

Display the ”View Reference Data” screen

Display the “View Reference Data” screen from the “Select Reference
Data” screen. For details, refer to subsection 7.3.8, “Operation in the
“View Reference Data” Screen”.

Edit the comment of the reference data

The comment of the displayed reference data is editable.

Display the ”Select Axis Number” screen

Display the “Select Axis Number” screen from the “Vision Axis Master”
screen. For details, refer to subsection 7.3.9, “Operation in the “Select
Axis for Number” Screen”.

Select axis number for measurement

Enter the number of the axis for measurement.

Refer to factory data

The reference data can refer to the factory data (the reference position of
the reference data 10).

Clear reference position

The value of a reference position can be cleared.

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7.VISION AXIS MASTER B-83724EN/02

Enter CV number of jig

If the target jig with CV number on it is used, display the “Enter CV

Number of Jig” screen and enter CV numb er of the target jig. For details,
refer to subsection 7.3.10, “Entering the CV Number of the Target
Fixture”.

Attach the gauging bracket for AMU

If reference data setting, 1-axis mastering, or encoder mastering is

executed, attach the gauging b racket fo r measurement from front side. If
step measurement is executed, attach the gauging bracket for step
measurement. For details, refer to subsection 7.3 .11, “Attaching the
Gauging Bracket for AMU”.

Move to measurement position

Move the robot to measurement position before measurement. For details,

refer to subsection 7.3.12, “Moving Axis to Measurement Position”.

Execute measurement

Execute the measurement of reference data setting, 1-axis mastering,

encoder mastering, or step measurement from the “Vision Axis Master”
screen. For details, refer to subsection 7.3.13, “Executing Measurement”.

Display the ”View Result / Update Data” screen

Display the “View Result / Update Data” screen from the “Vision Axis
Master” screen. Fo r details, refer to subsection 7.3.14, “Viewing Result /
Upd ating Data”.

Update data

Update either following data.

・ Reference data (reference data setting)
・ Mastering data (1-axis mastering, encoder mastering)
・ Reference data and step data (step measurement)

Output measurement result

Output the measuring results as a log file named as VAM_LOG.TXT.

For details, refer to subsection 7.5, “Log File Details”.

Complete

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7.3.2 Installation of AMU and Target Marks

Connect the AMU, which is the camera unit for Vision Axis Master, to the robot controller. The way to
connect the AMU is the same as for standard cameras, so for details, refer to subsection 3.1.2,
“Connecting the Camera to the Robot Controller or the iPendant”. The AMU includes a “SONY XC-56”.

NOTE
Make sure that the LED light of the AMU is illuminated on after the AMU is
connected on the robot controller and that the robot controller is on.

Detach the cover plates of the target stickers of the axes for measurement and attach the target fixtures to
the axes for measurement. The specification of target fixtures depends on the robot model and the axis for
measurement. For details, refer to “Mechanical Unit Operator’s Manual”.

7.3.3 Displaying the “Vision Axis Master” Screen

Procedure 7-1 Displaying the “Vision Axis Master” screen
Step
1 Press the MENU key, move the cursor to “UTILITIES”, and press the ENTER key.

2 Press the F1[TYPE] key, move the cursor to “iRCalibration”, and press the ENTER key.

The following screen appears on the teach pendant.

The available item list of iRCalibration functions is displayed in this screen. The items to be displayed are
different depending on which options are installed.

UTILITIES iRCalibration
6/6
1 Vision TCP Set
2 Vision Mastering
3 Vision Frame Shift
4 Vision Frame Set
5 Vision Master Recovery
6 Vision Axis Master
[ TYPE ]DISP_IMG DETAIL

3 Move the cursor to “Vision Axis Master” and press the F3(DETAIL) key or the ENTER key.

The window of the teach pendant is divided in two automatically, and the ”Vision Axis Master” screen
and the image screen are displayed simultaneously, as shown below.

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7.VISION AXIS MASTER B-83724EN/02

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 1/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[10:FACTORY DATA]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [**********]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] RST_ENC DISP_IMG

7.3.4 Resetting Alarms

Procedure 7-2 Resetting alarms
Condition
• If the alarm “Servo 062 BZAL” or “Servo 075 Pulse not established (G:i A:j)” is posted after the
replacement of the batteries or robot parts, reset these alarms by using the following procedure.
Step
1 To reset the alarm “Servo 062 BZAL”, move the cursor to “Setup”, press the F2(RST_ENC) key,
and cycle controller power.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 1/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[10:FACTORY DATA]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [**********]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] RST_ENC DISP_IMG

2 To reset the alarm “Servo 075 Pulse not established (G:i A:j)”, jog the axis which is indicated by the
alarm message by about 10 degrees in either direction.

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B-83724EN/02 7.VISION AXIS MASTER

7.3.5 Setting Countdown

As soon as the item “7 Execute Measurement” is executed, a message will be displayed in the bottom of
the screen as “Move camera to front side. 5”, “4”, “3”, “2”, “1”, and the vision detection will be
started after the countdown. The tip of the gauging bracket for AMU should be placed on the target mark
with slight pressure by the end of the countdown to prevent the misdetection. The default period of
countdown is 5 sec, and the period of the countdown can be adjusted in the “Vision Axis Master” screen.

Procedure 7-3 Setting countdown

Step
1 The period of the countdown can be changed by moving the cursor to “Countdown” on the “Vision
Axis Master” screen and entering the period of the countdown.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 2/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[10:FACTORY DATA]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [**********]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ]

7.3.6 Setting Robot Group Number

Procedure 7-4 Setting robot group number
Step
1 Move the cursor to “Robot Group Number” on the “Vision Axis Master” screen, and enter the robot
group number.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 3/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[10:FACTORY DATA]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [**********]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ]

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7.3.7 Operation in the “Select Reference Data” Screen

Procedure 7-5 Operation in the “Select Reference Data” screen
Condition
• Make sure that robot group number is set before the operation in the “Select Reference Data” screen.
Step
1 Move the cursor to “Select/View Reference Data” on the “Vision Axis Master” screen, and press the
F3(DETAIL) key or the ENTER key.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 4/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[10:FACTORY DATA]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [**********]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] DETAIL

The teach pendant displays the “Select Reference Data” screen as shown below.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 10

[ TYPE ] SELECT VIEW CLEAR

The selected reference data number is displayed in the bottom of the screen.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 10

[ TYPE ] SELECT VIEW CLEAR

The reference data status is displayed in three ways as shown below.

• [Set] means reference data of all axes are set.
• [Not Set] means none of the axes are set.
• [Setting] means some of the axes are set and the rest are not.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 10

[ TYPE ] SELECT VIEW CLEAR

The status of reference data 10 is [Set] from the beginning because it is set in the FANUC factory. For
details, refer to “Setting reference data” of subsection 7.2.5, “Basic Functions”.

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7.VISION AXIS MASTER B-83724EN/02

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 10

[ TYPE ] SELECT VIEW CLEAR

The date when reference data has been finally updated is displayed in “Update” list.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 10

[ TYPE ] SELECT VIEW CLEAR

2 Press the F2(SELECT) key to display “Enter reference data number” in the bottom of the screen,
enter a reference data number which is to be selected, and press the ENTER key.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Enter reference data number: 2

[ TYPE ] SELECT VIEW CLEAR

CAUTION
Step measurement can be executed only if the selected reference data number
is 10.

3 The “View Reference data” screen can be displayed by moving the cursor to the number of the
reference data which you want to view and pressing the F3(VIEW) key. For details, refer to
subsection 7.3.8, “Operation in “View Reference Data” Screen”.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 2

[ TYPE ] SELECT VIEW CLEAR

4 The reference data (reference positions of all axes) status of which is “Set” or “Setting” can be
cleared by moving the cursor to reference data which you want to clear, pressing the F5(CLEAR)
key, and pressing the F4(YES) key subsequently.

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7.VISION AXIS MASTER B-83724EN/02

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 2

[ TYPE ] SELECT VIEW CLEAR

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Clear reference data[ 1]?

[ TYPE ] YES NO

5 If the reference data has been selected, press the PREV key to display the “Vision Axis Master”
screen.

7.3.8 Operation in the “View Reference Data” Screen

Procedure 7-6 Operation in the “View Reference Data” screen
Step
1 If you want to display the “View Reference Data” screen, move the cursor to the number of
reference data which you want to view on the “Select Reference Data” screen, and press the
F3(VIEW) key.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/10
Select Reference Data
Robot Group [1]
Status Comment Update
1 [Setting] [REFERENCE 1 ] 2014/04/07
2 [Not Set] [REFERENCE 2 ] **********
3 [Not Set] [REFERENCE 3 ] **********
4 [Not Set] [REFERENCE 4 ] **********
5 [Not Set] [REFERENCE 5 ] **********
6 [Not Set] [REFERENCE 6 ] **********
7 [Not Set] [REFERENCE 7 ] **********
8 [Not Set] [REFERENCE 8 ] **********
9 [Not Set] [REFERENCE 9 ] **********
10 [ Set ] [FACTORY DATA] **********

Selected reference data number: 2

[ TYPE ] SELECT VIEW CLEAR

The teach pendant displays the “View Reference Data” screen as shown below.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/1
View Reference Data
Robot Group [1]
Reference Data [ 1:REFERENCE 1 ]

Referene Position
J1 -0.007 deg (Factory)
J2 0.001 deg
J3 ******** deg
J4 -0.002 deg (Factory)
J5 ******** deg
J6 ******** deg

Selected reference data number: 2

[ TYPE ]

• The value of the reference position is displayed in the Reference Position area if set.
• “********” is displayed in the Reference Position area when not set.
• “(FACTORY)” is displayed on right side of the Reference Position area if reference data of the axis
refers to factory data.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/1
View Reference Data
Robot Group [1]
Reference Data [ 1:REFERENCE 1 ]

Referene Position
J1 -0.007 deg (Factory)
J2 0.001 deg
J3 ******** deg
J4 -0.002 deg (Factory)
J5 ******** deg
J6 ******** deg

Selected reference data number: 2

[ TYPE ]

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7.VISION AXIS MASTER B-83724EN/02

NOTE
The time to set reference data can be shortened by referring factory data instead
of setting reference data to the axis that is hardly bended by the weight of the
tool. (For example, the J1 axis of a serial link type robot such as the R-2000iB).
The setting of referring to factory data can be done on the “Axis for
Measurement” screen.

2 The comment of reference data can be edited by pressing the ENTER key, entering new comment,
and pressing the ENTER key again.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/1
View Reference Data
Robot Group [1]
Reference Data [ 1:SERVO GUN 1 ]

Referene Position
J1 -0.007 deg (Factory)
J2 0.001 deg
J3 ******** deg
J4 -0.002 deg (Factory)
J5 ******** deg
J6 ******** deg

Selected reference data number: 2

[ TYPE ]

NOTE
The comment of reference data should be the name of tool.

3 Display the “Select Reference Data” screen by pressing the PREV key.

7.3.9 Operation in the “Select Axis Number” Screen

Procedure 7-7 Operation in the “Select Axis Number” screen
Condition
• Make sure that setting robot group number and selecting reference data number are completed before
the operation in the “Select Axis Number” screen.
Step
1 Move the cursor to “Select Axis for Measurement” in the “Vision Axis Master” screen, and press the
F3(DETAIL) key or the ENTER key.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 5/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [**********]
7 Execute Measurement
8 View Result / Update Data

Axis for measurement is not selected.

[ TYPE ] DETAIL

The teach pendant displays the “Select Axis Number” screen as shown below.
“********” is displayed in the line of the axis the reference data of which is not set.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 ******** deg
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Axis for measurement is not selected.

[ TYPE ] SELECT FACTORY

2 Press the F2(SELECT) key to display “Enter Axis Number”, enter the number of the axis for
measurement, and press the ENTER key.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 ******** deg
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Enter axis number: 2

[ TYPE ] SELECT FACTORY

If the number of the axis for measurement is selected, the selected number is displayed in the bottom line
of the screen as shown below.

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7.VISION AXIS MASTER B-83724EN/02

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 ******** deg
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Selected axis number: 2

[ TYPE ] SELECT FACTORY

3 The reference position, which is indicated by the cursor, can be set to refer to factory data by
pressing the F3(FACTORY) key. (Factory data is the reference position of reference data 10)

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 ******** deg
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Selected axis number: 2

[ TYPE ] SELECT FACTORY

NOTE
The time to set reference data can be shortened by referring factory data instead
of setting reference data to the axis that is hardly bended by the weight of the
tool. (For example, J1 axis of a serial link type robot as R-2000iB).

If the reference position is set to refer to the factory data, the value of the reference position (same value
as factory data) and “(FACTORY)” are displayed on the line such as below.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 -0.001 deg (Factory)
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Selected axis number: 2

[ TYPE ] SELECT CLEAR

4 The value of the reference position which is indicated by the cursor can be cleared by pressing the
F5(CLEAR) key and then pressing the F4(YES) key.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 -0.001 deg (Factory)
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Selected axis number: 2

[ TYPE ] SELECT CLEAR

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/6
View Reference Data
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]

Reference Position
1 J1 -0.001 deg (Factory)
2 J2 ******** deg
3 J3 ******** deg
4 J4 ******** deg
5 J5 ******** deg
6 J6 ******** deg

Clear reference position of J1 ?

[ TYPE ] SELECT YES NO

5 If the axis for measurement is selected, press the PREV key to display the “Vision Axis Master”
screen.

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7.VISION AXIS MASTER B-83724EN/02

7.3.10 Entering the CV Number of the Target Fixture

Procedure 7-8 Entering CV number of target fixture
Condition
• Make sure that setting robot group number, selecting reference data number, and selecting axis for
measurement are completed before entering in CV number of the target fixture.
• If two parts (part A and part B) of the target mark of the axis for measurement are target stickers, the
status of “Enter CV Number of Fixture” is “Not Needed”. In this case, the CV number does not need
to be entered.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 6/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [Not Needed]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ]

Step
1 If at least one target fixture with the CV number on it is used for measurement, the CV number of
the target fixture must be entered. Move the cursor to “Enter CV Number of Fixture” on the “Vision
Axis Master” screen and enter the F3(DETAIL) key or the ENTER key.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 6/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [ Not Done ]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] DETAIL

The teach pendant displays the “Enter CV Number of Fixture” screen shown below. If two parts of the
target mark are target fixtures, two CV numbers need to be entered, and if either one part of the target
mark is target fixture, one CV number needs to be entered. The following screen displays when two parts
of the target mark are target fixtures.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/2
Enter CV Number of Jig
Robot Group [1]
Referene Data [ 2:REFERENCE 2 ]
Axis for Measurement[4]

1 A4-
2 B4-

[ TYPE ]

2 Press the ENTER key, enter the CV number which is printed on the sticker which is stuck on the
target fixture to the line which is indicated by the cursor, and press the ENTER key again.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 1/2
Enter CV Number of Jig
Robot Group [1]
Referene Data [ 2:REFERENCE 2 ]
Axis for Measurement[4]

1 A4-
2 B4-

[ TYPE ]

NOTE
Please include hyphens for CV number.

The following screen is an example after entering the CV numbers.

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master: 2/2
Enter CV Number of Jig
Robot Group [1]
Referene Data [ 2:REFERENCE 2 ]
Axis for Measurement[4]

1 A4-123-456
2 B4-789

[ TYPE ]

3 After entering the CV numbers of target fixtures, display the “Vision Axis Master” screen by
pressing the PREV key and make sure that the status of “Enter CV Number of Fixture” is changed to
“Done”.

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7.VISION AXIS MASTER B-83724EN/02

UTILITIES iRCalibration iRVision Runtime Display

Vision Axis Master 6/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[*]
6 Enter CV Number of Jig [ Done ]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] DETAIL

7.3.11 Attaching Gauging Bracket for AMU

• Attach the gauging bracket for measurement from the front side to the AMU when reference data
setting, 1-axis mastering, or encoder mastering is executed.

Gauging Bracket for Measurement from Front Side

• Attach the gauging bracket for step measurement to the AMU when step measurement is executed.

Gauging Bracket for Step Measurement

7.3.12 Moving Axis to Measurement Position

If the position of the robot when recovering mastering status is significantly different from the position of
the robot when setting reference data, the recovering accuracy of the mastering status may be low,
because the magnitude of the bending of the axis may be changed. To prevent this, move the robot to

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B-83724EN/02 7.VISION AXIS MASTER
measurement position before measurement. For details of measurement position, refer to the mechanical
unit operator’s manual.

NOTE
1 Reference Data 10 is set without any tooling at the factory before shipping.
The robot is measured by the measurement position that is mentioned in the
mechanical unit operator’s manual.
2 The positional accuracy of jogging to the measurement position does not require
a high level of precision.

NOTE
Jog the axis for measurement so that the dot on Part B is within the
pre-positioning range of Part A. (see the figure below)

Part B Pre-positioning range Part B Pre-positioning range

Jog axis

Part A L R L R
Part A

7.3.13 Executing Measurement

Procedure 7-9 Executing reference data setting, 1-axis mastering, or encoder
mastering
Condition
• Make sure that setting the robot group number, selecting reference data, selecting axis for
measurement, and entering CV number of the fixture, are completed before executing measurement.
Step
1 Move the cursor to “Execute Measurement” in the “Vision Axis Master” screen and reset alarms to
execute the measurement.

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[4]
6 Enter CV Number of Jig [ Done ]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] REF. SET 1-AXIS ENCODER

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7.VISION AXIS MASTER B-83724EN/02

2 Start the measurement for reference data setting, 1-axis mastering, or encoder mastering.
• To execute the measurement for reference data setting, press the F2(REF. SET) key while
holding down the SHIFT key.
• To execute the measurement for 1-axis mastering, press the F3(1-AXIS) key while holding
down the SHIFT key.
• To execute the measurement for encoder mastering, press the F4(ENCODER) key while
holding down the SHIFT key.

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[4]
6 Enter CV Number of Jig [ Done ]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] REF. SET 1-AXIS ENCODER

CAUTION
1 The measurement for reference data setting cannot be executed when any
mastering status is invalid.
2 The measurement for 1-axis mastering and encoder mastering can’t be executed
if the reference position of the axis for measurement is not set in selected
reference data.
3 When the mastering of plural axes is executed, the mastering of each axis needs
to be executed in order of the axis number. (The smaller axis number must be
executed first.)
4 The axis for measurement moves automatically during the measurement. For
the safety of the operator, the override of the robot will be forced to 20 percent if
the override is over 20 percent. When the override is 20 percent, the moving
speed of the target mark of each axis is around 3mm/sec. When less than 20%,
the speed is not changed.
5 If the Jog/Program override function is valid, active override is changed to
“PROG” automatically when the measurements started, and active override and
the value of override will be returned to those before the measurement
automatically when the measurement is completed or cancelled.
6 The SHIFT key needs to be held down during the measurement. If the
measurement is cancelled by releasing the SHIFT key, the measurement needs
to be restarted from the beginning.
7 An attempt to start measurement during execution of another program causes
an error with the following error message displayed.
“INTP-313 (VCAXMAST) motion statement failed, PROG-040 Already locked by
other task”
In this case, the other executed program will be terminated compulsory,
therefore please restart the measurement.
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B-83724EN/02 7.VISION AXIS MASTER
3 The countdown will be started when the measurement is started. Place the tip of the gauging bracket
for the AMU on the target mark with slight pressure from the front side by the end of the
countdown.

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[4]
6 Enter CV Number of Jig [ Done ]
7 Execute Measurement
8 View Result / Update Data

Move camera to front side. 5

[ TYPE ]

4 During vision measurement, the relative position of the AMU to the target mark must be kept
appropriately by watching the image display. For details, refer to subsection “7.4 IMAGE DISPLAY
DURING VISION MEASUREMENT”. “Detecting …” or “Robot is moving …” is displayed
alternately in the bottom of the screen during the measurement.

NOTE
The tip of the gauging bracket for the AMU should be placed on the target mark
with slight pressure during the measurement.

Target Mark

5 If the measurement is completed successfully, “Reference data setting is completed”, “1-axis

mastering is completed”, or “Encoder mastering is completed” is displayed on the bottom of the
screen as shown below.

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7.VISION AXIS MASTER B-83724EN/02

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[4]
6 Enter CV Number of Jig [ Done ]
7 Execute Measurement
8 View Result / Update Data

Reference data setting is completed.

[ TYPE ] REF. SET 1-AXIS ENCODER

Procedure 7-10 Executing step measurement

Step measurement is executed when a robot arm or the wrist unit is replaced. For details, refer to “Step
measurement” of subsection 7.2.5, “Basic Functions”. Step measurement is executed when shipping the
robot. It is not necessary to execute step measurement ordinarily.

Condition
• Make sure that setting robot group number, selecting reference data, selecting axis for measurement,
and entering CV number of fixture, are completed before executing measurement.
Step
1 Set TRUE to the system variable $VCAX_REF_GR[g].$REF_STEP[a].$STEP_MS_ENB. (g: group
number of the robot for measurement, a: axis number for measurement)

2 Move the cursor to “Execute Measurement” in the “Vision Axis Master” screen and reset alarms to
execute the measurement.

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[2]
6 Enter CV Number of Jig [Not Needed]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] REF. SET 1-AXIS ENCODER STEP

3 Start step measurement by pressing the F5(STEP) key while holding down the SHIFT key.

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B-83724EN/02 7.VISION AXIS MASTER

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[2]
6 Enter CV Number of Jig [Not Needed]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] REF. SET 1-AXIS ENCODER STEP

CAUTION
1 Step measurement is executed without an attached tool.
2 When step measurement is executed, “10” needs to be selected as thereference
data number.
3 The step measurement cannot be executed if the mastering status of at least
one axis is invalid.
4 The axis for measurement moves automatically during the measurement. For
the safety of the operator, the override of the robot will be forced to 20 percent if
the override is over 20 percent. When the override is 20 percent, the moving
speed of the target mark of each axis is around 3mm/sec. When less than 20%,
the speed is not changed.
5 If the Jog/Program override function is valid, active override is changed to
“PROG” automatically when the measurements started, and active override and
the value of override will be returned to those before the measurement
automatically when the measurement is completed or cancelled.
6 The SHIFT key needs to be held down during the measurement. If the
measurement is cancelled by releasing the SHIFT key, the measurement needs
to be restarted from the beginning.
7 An attempt to start measurement during execution of another program causes
an error with the following error message displayed.
“INTP-313 (VCAXMAST) motion statement failed, PROG-040 Already locked by
other task”
In this case, the other executed program will be terminated, therefore please
restart step measurement.

4 To measure step data, The measurement from the front side, the measurement from right side, and
the measurement from left side needs to be repeated two or three times. During the measurement, the
measurement is stopped temporarily and “Press [CONTINUE] and move Cam to FRONT”, “Press
[CONTINUE] and move Cam to RIGHT”, or “Press [CONTINUE] and move Cam to LEFT” is
displayed on the bottom of the screen. Press the F4(CONTINUE) key while holding down the
SHIFT key in this timing to start countdown, and place the AMU on the target mark with slight
pressure from the direction that is indicated by the bottom of the screen by the end of the
countdown.

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7.VISION AXIS MASTER B-83724EN/02

Target Mark Target Mark Target Mark

5 During vision measurement, the relative position of the AMU to the target mark must be kept
appropriately by watching the image display. For details, refer to subsection “7.4 IMAGE DISPLAY
DURING VISION MEASUREMENT”. “Detecting …” or “Robot is moving …” is displayed
alternately in the bottom of the screen during the measurement.

NOTE
The tip of the gauging bracket for the AMU should be placed on the target mark
with slight pressure during the measurement.

6 If the measurement is completed successfully, “Step measurement is completed” is displayed on the

bottom of the screen as shown below.

T2 20 %
UTILITIES iRCalibration iRVision Runtime Display
Vision Axis Master 7/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[2]
6 Enter CV Number of Jig [Not Needed]
7 Execute Measurement
8 View Result / Update Data

Step data measurement is completed.

[ TYPE ] REF. SET 1-AXIS ENCODER STEP

CAUTION
If the step measurement failed, check if the target fixture is attached to the robot
securely, and re-execute the measurement.

7.3.14 Viewing Results and Updating data

Procedure 7-11 Displaying the “View Result” screen
Step
1 Move the cursor to “View Result / Update Data” in the “Vision Axis Master” screen and press the
F3(DETAIL) key or the ENTER key. The teach pendant displays the “View Result” screen.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration
Vision Axis Master 8/8
1 Setup
2 Count Down: 5 sec
3 Robot Group Number: 1
4 Select/View Reference Data
[ 2:REFERENCE 2 ]
5 Select Axis for Measurement[2]
6 Enter CV Number of Jig [Not Needed]
7 Execute Measurement
8 View Result / Update Data

[ TYPE ] DETAIL

Procedure 7-12 Operation after measurement for reference data setting

After the measurement for reference data setting, the “View Result” screen is displayed as shown below.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Ref. Data Setting] 2014/04/07 16:45
Reference Data of Measured Axis:
Previous Value: ******** deg
Current Value: .139 deg
Measured Value: .006 deg
Diff. Of Above 2: -.132 deg

[UPDATE] will update reference data.

[ TYPE ] UPDATE OUTPUT

NOTE
Reference data has not yet been updated.

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7.VISION AXIS MASTER B-83724EN/02

Step
1 Check the displayed items, press the F3(UPDATE) key, and press the F4(YES) key subsequently to
update reference data.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Ref. Data Setting] 2014/04/07 16:45
Reference Data of Measured Axis:
Previous Value: ******** deg
Current Value: .139 deg
Measured Value: .006 deg
Diff. Of Above 2: -.132 deg

[UPDATE] will update reference data.

[ TYPE ] UPDATE OUTPUT

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Ref. Data Setting] 2014/04/07 16:45
Reference Data of Measured Axis:
Previous Value: ******** deg
Current Value: .139 deg
Measured Value: .006 deg
Diff. Of Above 2: -.132 deg

Update reference data ?

[ TYPE ] YES NO

The screen will be updated after updating the mastering data as shown below.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Ref. Data Setting] 2014/04/07 16:45
Reference Data of Measured Axis:
Previous Value: .139 deg
Current Value: .006 deg
Measured Value: .006 deg
Diff. Of Above 2: 0.000 deg

Reference data has been updated.

[ TYPE ] OUTPUT

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B-83724EN/02 7.VISION AXIS MASTER
2 If the F5(OUTPUT) key is pressed with the file I/O device (a memory card, a USB memory, etc)
which is selected in the file screen plugged in the controller, VAMLOG.TXT, a log file saves the
results to the file I/O device. For details of the method of selecting the file I/O device in the file
screen, please refer to the "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic Operation)"

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Ref. Data Setting] 2014/04/07 16:45
Reference Data of Measured Axis:
Previous Value: .139 deg
Current Value: .006 deg
Measured Value: .006 deg
Diff. Of Above 2: 0.000 deg

Reference data has been updated.

[ TYPE ] OUTPUT

NOTE
IF VAMLOG.TXT already exists, the new results are appended to the current
contents.

Procedure 7-13 Operation after measurement for 1-axis mastering

After the measurement for 1-axis mastering, the “View Result” screen is displayed as shown below.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[1-Axis Mastering] 2014/04/07 18:45
Mastering Count of Measured Axis:
Previous Value: ************
Current Value: 2224789
Measured Value: 2226259
Diff. Of Above 2: .003 deg

[UPDATE] will update mastering data.

[ TYPE ] UPDATE OUTPUT

NOTE
After executing 1-axis mastering, the difference between measured value and
the current value of the mastering count is displayed as “Diff. Of Above2”. (This
value is converted into degrees.)

NOTE
Mastering data has not yet been updated.

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7.VISION AXIS MASTER B-83724EN/02

Step
1 Check the displayed items, press the F3(UPDATE) key, and then press the F4(YES) key to update
mastering data.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[1-Axis Mastering] 2014/04/07 18:45
Mastering Count of Measured Axis:
Previous Value: ************
Current Value: 2224789
Measured Value: 2226259
Diff. Of Above 2: .003 deg

[UPDATE] will update mastering data.

[ TYPE ] UPDATE OUTPUT

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[1-Axis Mastering] 2014/04/07 18:45
Mastering Count of Measured Axis:
Previous Value: ************
Current Value: 2224789
Measured Value: 2226259
Diff. Of Above 2: .003 deg

Update mastering data ?

[ TYPE ] YES NO

The screen will be updated after updating the mastering data as shown below.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[1-Axis Mastering] 2014/04/07 18:45
Mastering Count of Measured Axis:
Previous Value: 2224789
Current Value: 2226259
Measured Value: 2226259
Diff. Of Above 2: 0.000 deg

Mastering data has been updated.

[ TYPE ] OUTPUT

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B-83724EN/02 7.VISION AXIS MASTER
2 If the F5(OUTPUT) key is pressed with a file I/O device plugged in the controller, VAMLOG.TXT,
a log file, saves the results to the file I/O device.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[1-Axis Mastering] 2014/04/07 18:45
Mastering Count of Measured Axis:
Previous Value: 2224789
Current Value: 2226259
Measured Value: 2226259
Diff. Of Above 2: 0.000 deg

Mastering data has been updated.

[ TYPE ] OUTPUT

NOTE
IF VAMLOG.TXT already exists, the new results are appended to the current
contents.

3 After updating the mastering data, set the reference position for Quick Mastering again, preparing
for future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For
details of Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

Procedure 7-14 Operation after measurement for encoder mastering

After the measurement for encoder mastering, the “View Result” screen is displayed as shown below.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Encoder Mastering] 2014/04/07 19:45
Mastering Count of Measured Axis:
Previous Value: 2224789
Current Value: 2226259
Measured Value: 7469139
Diff. Of Above 2: 10 rot

[UPDATE] will update mastering data.

[ TYPE ] UPDATE OUTPUT

NOTE
After executing encoder mastering, The difference between the measured value
and the current value of the mastering count is displayed as “Diff. Of Above2”.
(This value is converted into rotational number of the motor)

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7.VISION AXIS MASTER B-83724EN/02

NOTE
Mastering data has not yet been updated.

Step
1 Check the displayed items, press the F3(UPDATE) key, and then press the F4(YES) key to update
mastering data.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Encoder Mastering] 2014/04/07 19:45
Mastering Count of Measured Axis:
Previous Value: 2224789
Current Value: 2226259
Measured Value: 7469139
Diff. Of Above 2: 10 rot

[UPDATE] will update mastering data.

[ TYPE ] UPDATE OUTPUT

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Encoder Mastering] 2014/04/07 19:45
Mastering Count of Measured Axis:
Previous Value: 2224789
Current Value: 2226259
Measured Value: 7469139
Diff. Of Above 2: 10 rot

Update mastering data ?

[ TYPE ] YES NO

The screen will be updated after updating mastering data as shown below.

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Encoder Mastering] 2014/04/07 19:45
Mastering Count of Measured Axis:
Previous Value: 2226259
Current Value: 7469139
Measured Value: 7469139
Diff. Of Above 2: 0 rot

Mastering data has been updated.

[ TYPE ] OUTPUT

2 If the F5(OUTPUT) key is pressed with a file I/O device plugged in the controller, VAMLOG.TXT,
a log file, saves the results to the file I/O device.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/1
Robot Group [1]
Reference Data [ 2:REFERENCE 2 ]
Measured Axis [2]
[Encoder Mastering] 2014/04/07 19:45
Mastering Count of Measured Axis:
Previous Value: 2226259
Current Value: 7469139
Measured Value: 7469139
Diff. Of Above 2: 0 rot

Mastering data has been updated.

[ TYPE ] OUTPUT

NOTE
IF VAMLOG.TXT already exists, the new results are appended to the current
contents.

3 After updating the mastering data, set the reference position for Quick Mastering again, preparing
for future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For
details of Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

Procedure 7-15 Operation after step measurement

Step
1 The “View Result” screen after step measurement consists of two screens. The displayed screen can
be switched by pressing the F4(NEXT) key.

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7.VISION AXIS MASTER B-83724EN/02

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/2
Robot Group [1]
Reference Data [**:************]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: ******** mm
Current Value: .325 mm
Measured Value: .494 mm
Diff. Of Above 2: .169 mm

[UPDATE] will update step & ref. data.

[ TYPE ] UPDATE NEXTPAGE OUTPUT

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 2/2
Robot Group [1]
Reference Data [10:FACTORY DATA]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: ******** deg
Current Value: .604 deg
Measured Value: .152 deg
Diff. Of Above 2: -.451 deg

[UPDATE] will update step & ref. data.

[ TYPE ] UPDATE NEXTPAGE OUTPUT

NOTE
Step data and reference data have not yet been updated.

2 Check the displayed items, press the F3(UPDATE) key, and then press the F4(YES) key to update
the step data and reference data.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/2
Robot Group [1]
Reference Data [**:************]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: ******** mm
Current Value: .325 mm
Measured Value: .494 mm
Diff. Of Above 2: .169 mm

[UPDATE] will update step & ref. data.

[ TYPE ] UPDATE NEXTPAGE OUTPUT

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B-83724EN/02 7.VISION AXIS MASTER

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/2
Robot Group [1]
Reference Data [**:************]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: ******** mm
Current Value: .325 mm
Measured Value: .494 mm
Diff. Of Above 2: .169 mm

Update step & reference data?

[ TYPE ] YES NO

3 If either reference position of the axis for measurement is set in reference data 1, reference data 2, …,
or reference data 9, you can choose to initialize these data or not. Please press the F4(YES) key or
the F5(NO) key.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/2
Robot Group [1]
Reference Data [**:************]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: ******** mm
Current Value: .325 mm
Measured Value: .494 mm
Diff. Of Above 2: .169 mm

Initialize other reference data ?

[ TYPE ] YES NO

NOTE
After resetting the step data, Initializing other reference data of the measured
axis is recommended. If other reference data are initialized, please set these
reference data again.

The screen will be updated after updating step data and reference data as shown below.

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UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/2
Robot Group [1]
Reference Data [**:************]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: .325 mm
Current Value: .494 mm
Measured Value: .494 mm
Diff. Of Above 2: 0.000 mm

Step & reference data have been updated.

[ TYPE ] NEXTPAGE OUTPUT

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 2/2
Robot Group [1]
Reference Data [10:FACTORY DATA]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: .604 deg
Current Value: .152 deg
Measured Value: .152 deg
Diff. Of Above 2: 0.000 deg

Step & ref. data are updated already.

[ TYPE ] NEXTPAGE OUTPUT

4 If the F5(OUTPUT) key is pressed with a file I/O device plugged in the controller, VAMLOG.TXT,
a log file, saves the results to the file I/O device.

UTILITIES iRCalibration
Vision Axis Master:
View Result Page 1/2
Robot Group [1]
Reference Data [**:************]
Measured Axis [2]
[Step Measurement] 2014/04/07 20:45
Step Data of Measured Axis:
Previous Value: .325 mm
Current Value: .494 mm
Measured Value: .494 mm
Diff. Of Above 2: 0.000 mm

Step & ref. data are updated already.

[ TYPE ] NEXTPAGE OUTPUT

NOTE
IF VAMLOG.TXT already exists, the new results are appended to the current
contents.
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B-83724EN/02 7.VISION AXIS MASTER

7.4 IMAGE DISPLAY DURING VISION MEASUREMENT

During vision measurement, the relative position of the AMU to the target mark must be kept
appropriately by watching the image display.

Blue circular window

During vision measurement, the blue circular window at the center of which is equal to the center of the
image is displayed in the image as shown in Fig. 7.4(a). Move the AMU to snap five all dots of the target
mark in this window.

Fig. 7.4(a) Blue circular window

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Image display when the target marks is detecting successfully

If all five dots are detected and the position of the AMU is appropriate, a green circle is displayed in the
image as shown in Fig. 7.4(b). Keep this AMU position during the measurement.

Fig. 7.4(b) Target marks is detecting successfully

Image display when some dots are not detected

When at least one dot is not detected, the green circle such as in Fig. 7.4(b) is not displayed. In Fig. 7.4
(c), a dot duplicates the gauging bracket and the detection fails. In this case, move the AMU so that the
dot will not duplicate the bracket.

Fig. 7.4(c) Some dots are not detected

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B-83724EN/02 7.VISION AXIS MASTER

Image display when the AMU is too far from the target mark
When the AMU is too far from the target mark, red and green concentric circles are displayed in the
image (Red one is smaller than green one) as shown in Fig. 7.4(d). In this case, place the tip of the
gauging bracket on the part A of the target mark so that the distance between the AMU and the target
mark will be appropriate.

Fig. 7.4(d) The AMU is far from the target mark

Image display when the AMU is too close to the target mark
When the AMU is too close to the target mark, red and green concentric circles are displayed in the image
(Red one is bigger than green one) as shown in Fig. 7.4(e). In this case, attach the gauging bracket to the
AMU before vision measurement so that the AMU will not be too close to the target mark.

Fig. 7.4(e) The AMU is too close to the target mark

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7.VISION AXIS MASTER B-83724EN/02

Image display when the tilt of the AMU is invalid

When the tilt of the AMU against the target mark is invalid, the light blue arrow is displayed in the image
as shown in Fig. 7.4(f). In this case, move the camera as following the arrow (see Fig. 7.4 (g)).

Fig. 7.4(f) The inclination of the AMU is invalid

AMU

Fig. 7.4(g) The direction of moving the AMU

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7.5 LOG FILE DETAILS

The measurement result can be output as a log file named as VAMLOG.TXT.

Log file recorded the result of reference data setting

iRCalibration Vison Axis Master Log File

Robot Model: R-2000iB/210F

Robot Number: F00000
Software Version: V8.30P/02
Measured Time: 2012/03/05 18:10
Output Time: 2012/03/06 19:53
Robot Group: 1
Reference Data: [ 2:REFERENCE 2]
Measured Axis: 2
Measurement Type: Reference Data Setting
Reference Data of Measured Axis:
Previous Value: .139 deg
Current Value: .006 deg
Measured Value: .006 deg
Diff. of Above 2: 0.000 deg

Log file recorded the result of 1-axis mastering

iRCalibration Vison Axis Master Log File

Robot Model: R-2000iB/210F

Robot Number: F00000
Software Version: V8.30P/02
Measured Time: 2012/03/05 18:10
Output Time: 2012/03/06 19:55
Robot Group: 1
Reference Data: [ 2:REFERENCE 2]
Measured Axis: 2
Measurement Type: 1-Axis Mastering
Mastering Count of Measured Axis:
Previous Value: 2224789
Current Value: 2226259
Measured Value: 2226259
Diff. of Above 2: 0.000 deg

Log file recorded the result of encoder mastering

iRCalibration Vison Axis Master Log File

Robot Model: R-2000iB/210F

Robot Number: F00000
Software Version: V8.30P/02
Measured Time: 2012/03/05 18:10
Output Time: 2012/03/06 19:56
Robot Group: 1
Reference Data: [ 2:REFERENCE 2]
Measured Axis: 2
Measurement Type: Encoder Mastering
Mastering Count of Measured Axis:
Previous Value: 2226259
Current Value: 7469139
Measured Value: 7469139
Diff. of Above 2: 0 rot

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7.VISION AXIS MASTER B-83724EN/02

Log file recorded the result of step measurement

iRCalibration Vison Axis Master Log File

Robot Model: R-2000iB/210F
Robot Number: F00000
Software Version: V8.30P/02
Measured Time: 2012/03/05 18:10
Output Time: 2012/03/06 19:46
Robot Group: 1
Reference Data: [10:FACTORY DATA]
Measured Axis: 2
Measurement Type: Step Measurement
Step Data of Measured Axis:
Previous Value: .325 mm
Current Value: .494 mm
Measured Value: .494 mm
Diff. of Above 2: 0.000 mm
Reference Data of Measured Axis:
Previous Value: .604 deg
Current Value: .152 deg
Measured Value: .152 deg
Diff. of Above 2: 0.000 deg

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B-83724EN/02 8.ALL-AXIS VISION MASTERING

8 ALL-AXIS VISION MASTERING

8.1 ALL-AXIS VISION MASTERING
What is All-Axis Vision Mastering?
All-Axis Vision Mastering can be used for the same purpose of Fixture Mastering.
It performs Mastering equivalent to factory default. It is a function for maintenance, not a function aimed
at improving accuracy such as Vision Mastering described in Chapter 4 of this manual. And the robot
needs to be mastered with rough accuracy in advance before All-Axis Vision Mastering is applied.
It carries out Mastering for the robot by automatic vision measurement using a special set of parts such as
a bracket, a stand, and others.
During vision measurement, the robot changes its orientation widely. Therefore, a wide space is required
around the robot.

8.2 PARTS FOR ALL-AXIS VISION MASTERING

In order to execute All-Axis Vision Mastering, it needs a special set of parts such as a bracket, a stand and
etc. for each robot model.

iPendant Robot controller

Stand
Bracket

Grid
Camera cable

Fig.8.2 Parts for All-Axis Vision Mastering

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8.3 OUTLINE OF OPERATION

Outline of the operation of All-Axis Vision Mastering is shown in the following.

Installation of the special set of parts

Displaying All-Axis Vision Mastering

Adjusting the camera

Calibrating the camera position

Moving to the start position

In the case of using two grids, adjust the

positio n of the se para te g rid.

Measurement

Updating Mastering data

8.4 INSTALLATION OF THE SPECIAL SET OF PARTS

Prepare a bracket, a grid and others dedicated for each robot model, and connect the camera cable.

8.5 DISPLAYING ALL-AXIS VISION MASTERING SCREEN

Procedure 8-1 Displaying the All-Axis Vision Mastering screen
Step
1 Enable the teach pendant.
2 Press the MENU key.
3 Select “UTILITIES”.
4 Press the F1 [TYPE] key.

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B-83724EN/02 8.ALL-AXIS VISION MASTERING
5 Select “iRCalibration”.
6 Select “All-Axis Vision Mastering”.
“All-Axis Vision Mastering” screen is displayed.

UTILITIES iRCalibration iRVision Runtime Display

All-Axis Vision Mastering 1/4
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos:
4 Move to Start pos
Measure: Not Done
Update Master CT
[ TYPE ] DISP_IMG
Fig. 8.5 All-Axis Vision Mastering screen

TIP
1 All-Axis Vision Mastering’s operations should be made with enabling the Teach
Pendant.
2 When the All-Axis Vision Mastering screen is selected from iRCalibration screen,
the window of the teach pendant is divided in two automatically and All-Axis Vision
Mastering screen and Image screen are displayed.
3 Even if the window configuration is changed, the All-Axis Vision Mastering screen
and the Image screen can be displayed again in similar fashion by pressing F2
(DISP_IMG) on the All-Axis Vision Mastering screen.

Procedure 8-2 Selecting the robot motion group

Select the robot motion group for which to execute All-Axis Vision Mastering.

Step
1 On the All-Axis Vision Mastering screen, specify the motion group number of the robot, to which
All-Axis Vision Mastering will be applied, at the item of ”Robot: Group”.

8.6 ADJUSTING THE CAMERA

Assemble the bracket with the camera, grid and stand. And, adjust the aperture and focus of the lens, and
exposure time of the camera..

Procedure 8-3 Assembling the bracket, grid and stand

Step
1 Refer to the procedure manual for each robot model. And, assemble the bracket, grid and stand.

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8.ALL-AXIS VISION MASTERING B-83724EN/02

Fig. 8.6 (a) Example assembly

Procedure 12-4 Adjusting aperture and focus of lens, and exposure time of camera.

NOTE
Depending on the robot model, used parts are different, and the procedure might
be slightly different from what is shown below.
For more information, please refer to the procedure manual for each robot
model.

Step
1 Set the aperture of the lens to 16.

Point A

The aperture is pointed

by this white line.
In this picture, it is 16.

Fig. 8.6 (b) Lens

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B-83724EN/02 8.ALL-AXIS VISION MASTERING
2 Move the cursor to “Exposure Time” on the All-Axis Vision Mastering screen, and press the F4
(LIVE) key in order to start LIVE mode. And, adjust the exposure time in order that the LIVE image
becomes moderately bright.
If the LIVE image is still dark even with up to 100ms exposure time, set the aperture to the point
between 16 and 8 (point A in the picture), or set the aperture to 8, and adjust the exposure time. If it
is still dark, increase ambient lighting condition.
Remember the results of the aperture and the exposure time as they will be used in a later step.

dark moderately bright too bright

Fig. 8.6(c) Examples of the brightness of the image

UTILITIES iRCalibration
All-Axis Vision Mastering 2/4
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos:
4 Move to Start pos
Measure: Not Done
Update Master CT
[ TYPE ] TIME+ TIME- LIVE FIND
Fig. 8.6 (d) Exposure Time

The exposure time can be input with numerical value directly. Also, it can be changed with the
following function keys.
F2 (TIME+)
Increases the exposure time. If pressing with SHIFT key, the value changes in bigger
increments.
F3 (TIME-)
Decreases the exposure time. If pressing with SHIFT key, the value changes in bigger
decrements.

Also, the following operations are possible with the function keys.
F4 (LIVE)
Toggles between starting displaying LIVE image and stopping LIVE.
F5 (FIND)
Detects the calibration grid.

3 Once, set the aperture to 1.4, then, the LIVE image becomes bright. And, adjust the exposure time in
order that the LIVE image becomes moderately bright.
4 Adjust the focus in order that the LIVE image becomes clear. In this time, fix the aperture handle
and move the focus handle only.
5 Put the aperture and the exposure time back as adjusted at the step 2. And, tighten the screws to lock
the aperture and the focus rings.
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8.ALL-AXIS VISION MASTERING B-83724EN/02

6 Stop LIVE mode by pressing the F4 (LIVE) key again.

8.7 CALIBRATING THE CAMERA POSITION

With the bracket and the grid being assembled on the stand, calibrate the camera position.

Procedure 8-5 Calibrating the camera position.

Step
1 Move the cursor to “Cal. Camera pos” on the All-Axis Vision Mastering screen and press the
SHIFT and F3 (CAL) keys together in order to calibrate the camera position.
At this time, if the calibration was already done in the past, a confirmation message appears. Then
select “YES” in order to calibrate the camera position anew.
When the calibration is completed, the date of calibration is displayed at next to the cursor.

UTILITIES iRCalibration
All-Axis Vision Mastering 3/5
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos: 2013/12/20
4 Move to Start pos
5 Measure: Not Done
Update Master CT
[ TYPE ]DISP_IMG CAL
Fig. 8.7 Cal. Camera pos

8.8 MOVING TO THE START POSITION

Move the robot to the measurement start position. From this step on, operations involve robot movement.
Please pay careful attention to safety. Override 30% or less is recommended.
In a case that the robot model uses the method that requires two grids for All-Axis Vision
Mastering.Adjust the position of the separately located grid to align with the start position.

Procedure 8-6 Moving to the start position.

Step
1 Move the cursor to “Move to Start pos” on the All-Axis Vision Mastering screen, and press the
SHIFT and F3 (MOVE_TO) keys together in order to move the robot to the measurement start
position.

UTILITIES iRCalibration
All-Axis Vision Mastering 4/5
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos: 2013/12/20
4 Move to Start pos
5 Measure: Not Done
Update Master CT
[ TYPE ]DISP_IMG MOVE_TO LIVE FIND
Fig. 8.8 (a) Move to Start pos

In a case using two grids

With the robot model that uses two grids for All-Axis Vision Mastering, adjust the position of the
separately located grid to align with the measurement start position.
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B-83724EN/02 8.ALL-AXIS VISION MASTERING
If there is a grid for a separate location in “PARTS LIST” of the procedure manual for each robot model,
it uses two grids. If not, it uses one grid.
In the case of using one grid, skip the following “Procedure 8-7”.

Procedure 8-7 Adjusting the position of the separately located grid.

Condition
• Calibrating the camera position has been finished.
• The robot has been moved to the start position.

Step
1 Move the cursor to “Move to Start pos” on All-Axis Vision Mastering screen and press the F4
(LIVE) key in order to start LIVE mode.
2 Adjust the position of the grid so that the origin of the grid approximately goes to the center of the
LIVE image as shown.

Separate location
grid

Fig. 8.8 (b) Separately located grid

iRVision Runtime Display

Fig. 8.8 (c) Grid image

3 Move the cursor to “Move to Start pos” and press the F5 (FIND) key Then, the amount of
deviation of the distance between the camera and the grid is displayed at the lower part of the screen
in such a manner as "Z=xx.x". Its unit is mm and larger value means a longer distance.

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UTILITIES iRCalibration
All-Axis Vision Mastering 4/5
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos: 2013/12/20
4 Move to Start pos
5 Measure: Not Done
Update Master CT
Z = 11.7
[ TYPE ]DISP_IMG MOVE_TO LIVE FIND
Fig. 8.8 (d) Distance between grid and camera

4 Change the position of the grid so as that the above distance value becomes close to 0. And, adjust
the position of the grid to within ±50mm by repeating the step 1∼3.

8.9 MEASUREMENT
Let the robot execute visual measurements of the grid from various angles.
Because the robot changes its posture greatly during the measuring, it needs large space around the robot.

Procedure 8-8 Measuring.

Step
1 Move the cursor to “Measure” on All-Axis Vision Mastering screen and press the
SHIFT and F3 (MEASURE) key together in order to start the measurement.
When measuring is completed, the indication changes from “Not Done” to “Done”.

UTILITIES iRCalibration
All-Axis Vision Mastering 5/5
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos: 2013/12/20
4 Move to Start pos
5 Measure: Not Done
Update Master CT
[ TYPE ]DISP_IMG MEASURE
Fig. 8.9 Measure

CAUTION
1 The robot changes its posture variously while measuring. Pay attention to the
camera cable so as not to interfere the measurement.
2 With the robot model that uses two grids, if the separately located grid moves
while measuring, restart measuring from the beginning.
3 You must keep pressing the SHIFT key during the measurement. If the SHIFT
key is released, measuring is stopped.
4 Just after measuring is stopped, you can resume measuring by pressingthe
SHIFT and F3 (MEASURE) keys together When the SHIFT and F3 (MEASURE)
keys are pressed together, the confirmation message for resuming is displayed.
Then, if “RESUME” is selected, measuring is resumed. If “RESTART” is
selected, measuring is restarted from the beginning.
5 If the camera image is dark and vision detection fails and measuring is stopped,
you should try changing “Exposure Time” in order to take a bright camera image.
And, you can resume measuring.

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B-83724EN/02 8.ALL-AXIS VISION MASTERING

CAUTION
6 If the Gravity Compensation function is enabled, the confirmation message if
payload setting is correct is displayed. Please refer to the procedure manual for
each robot model. And, set the correct payload data before measuring.
7 If Gravity Compensation status is different between now and when the last
mastering was done, the confirmation message if you execute mastering is
displayed. If you are sure to execute mastering, please select “Yes” and go
ahead with measuring.

8.10 UPDATING MASTERING DATA

Check the results of measuring, and update the mastering data.

Procedure 8-9 Updating the mastering data.

Step
1 Move the cursor to “Update Master CT” on All-Axis Vision Mastering screen and press the
F3 (DETAIL) key in order to display “Update Master CT” screen.

UTILITIES iRCalibration
All-Axis Vision Mastering 6/6
1 Robot Group: 1
2 Exposure Time: 33.3 ms
3 Cal. Camera pos: 2013/12/20
4 Move to Start pos
5 Measure: Done
6 Update Master CT
[ TYPE ]DISP_IMG DETAIL
Fig. 8.10 (a)Update Master CT

2 The results of measurement and identification are displayed. The values in () are standard ranges of
errors.
If there is no problem, press the SHIFT and F3 (UPDATE) keys together in order to update the
mastering data.
Also, if there is an item that is out of its standard range, its notification message is displayed at the
lower part of the screen. In addition, updating the mastering data is available even if there is an item
that is out of its standard range.

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UTILITIES iRCalibration
All-Axis Vision Mastering 1/6
Update Master CT
Robot Group: 1
1 Compensation Angles [deg]
J1: 0.300 J2: -0.254
J3: 0.172 J4: -0.239
J5: -0.082 J6: 0.326
2 Residual Error [mm]: 0.58 ( 1.50)
3 VTCP Error [mm]
X: 0.10 (± 1.50)
Z: 0.10 (± 1.00)
4 Grid Pattern Error [mm]
X: 0.20 (± 1.00)
Z: -0.54 (± 1.50)
5 Residual Error 2 [mm]: 0.58 ( 1.50)
6 VTCP Error 2 [mm]
X: 0.10 (± 1.50)
Z: 0.10 (± 1.00)

[ TYPE ] UPDATE
Fig. 8.10 (b)Update Master CT screen

About items
Compensation Angles
This item indicates the compensation angles from the previous mastering data.

Residual Error
This item indicates an index of precision if the mastering data is updated with the results of
measurement and identification.
In the case of using two grids, it is the value from the measurement of the separately located grid.
If this value is much higher than the standard range, the measurement might have not been done
properly.
Check if assemblies of the parts are loose and if the lens is out of focus. And, make another try.

VTCP Error
This is an error of TCP for Vision measurement. It is a difference between the identified value and
the design value.
If you are using two grids, it is the value from the measurement of the separately located grid.
If this value is much higher than the standard range, assembly of the bracket might have not been
proper or assembly of the grid at ”CALIBRATING THE CAMERA POSITION” might have not
been proper.
Check if there is anything wrong, and, make another try.

Grid Pattern Error

This is an error of grid position. It is a difference between the identified value and the design value.
If this value is much higher than the standard range, assembly of the grid might have not been proper.
Check if there is anything wrong, and, make another try.

Residual Error 2
If you are not using a separately located grid, it can be neglected.
An index of precision if the mastering data is updated with the results of measurement and
identification.
It is the value from the measurement of the grid assembled at the robot base.
If this value is much higher than the standard range, the measurement might have not been done
properly.
Check if assemblies of the parts are loose and if the lens is out of focus. And, make another try.

VTCP Error 2

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B-83724EN/02 8.ALL-AXIS VISION MASTERING
If you are not using a separately located grid, it can be neglected.
It is an error of TCP for Vision measurement. It is a difference between the identified value and the
design value.
It is the value from the measurement of the grid assembled at the robot base.
If this value is much higher than the standard range, the assembly of the bracket might have not been
done properly or the assembly of the grid at ”CALIBRATING THE CAMERA POSITION” might
have not been done properly.
Check if there is anything wrong and try again.

3 After updating the mastering data, set the reference position for Quick Mastering again, preparing
for future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For
details of Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

4 Then, All-Axis Vision Mastering is complete.

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9 WRIST-AXIS VISION MASTERING

9.1 WRIST-AXIS VISION MASTERING

What is Wrist-Axis Vision Mastering?

Wrist-Axis Vision Mastering automatically measures a target fixture attached to the end effector
mounting face of a robot by using a fixed camera while changing the posture of the robot. It also sets
wrist-axis (J4, J5, J6 axis) mastering data equivalent to factory defaults.
It is a function for maintenance, not a function aimed at improving accuracy such as Vision Mastering
described in Chapter 4 of this manual.

Features of Wrist-Axis Vision Mastering

• Operations other than installation of a measurement target and a camera are performed automatically.
Manual operations are therefore simplified, and the operation results do not depend on the skill of
the operator.
• Because this function requires a relatively small robot operation range, it is easy to apply this
function for the robot with a limited operation range by the installation location of itself and
surroundings.

Limitation of Wrist-Axis Vision Mastering

• The robot needs to be mastered with rough accuracy in advance before Wrist-Axis Vision Mastering
is applied. The accuracy is satisfied with a visual confirmation such as aligning Vernier Marks or
Scribe Marks.
• This function needs a dedicated measurement target with a calibration grid on it for each robot type.
The robot types with no available measurement target can not use this function.
• This function utilizes the analog camera, camera cable and lens (focal length 12mm) that are
specified for the integrated vision function iRVision.
• This function can not be used with an arbitrary robot pose. It needs a base position satisfying some
specified condition as the angles of J4 and J6 axis are 0 degree and so on. For details, refer to “9.2.3
Robot Poses”.

9.2 SYSTEM CONFIGURATION

9.2.1 Overall Configuration

The Wrist-Axis Vision Mastering system consists of a robot controller, an iPendant, a camera, a lens, and
a measurement target.

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Lens

Camera Target iPendant Robot Controller

Camera Cable

NOTE
1 The customer is to prepare hardware such as a camera with lens, a
measurement target and a jig for holding the camera.
2 Because the measurement target has to be mounted on the end effector
mounting face of the robot directly, tools have to be detached from the end
effector mounting face.

Tips
Wrist-Axis Vision Mastering can share camera data with iRVision if iRVision is
installed. You can use cameras that are not listed in “2.1 COMPONENTS” when
sharing camera data with iRVision. For more details, refer to "3.5 USING
iRVision CAMERA". You can use only FANUC lenses.

9.2.2 Attaching the Measurement Target

This function uses a dedicated measurement target for Wrist-Axis Vision Mastering attached on the end
effector mounting face.
The shape of the measurement target is such as shown below. There are holes for positioning pins and
screws on the target and a calibration grid on the end of the target.

Fig. 9.2.2 (a) A measurement target for Wrist-Axis Vision Mastering

There are four larger circles in the vicinity of the center in the grid. In the following, the center of the
circle indicated by an arrow as shown below is called the center of the grid.

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the center of the grid

Fig. 9.2.2 (b) Grid

Attach the measurement target in such direction as shown below (The robot is at the zero position). Insert
the positioning pins and the measurement target into the end effector mounting face of the robot securely
and tighten the screws at specified positions.

Fig. 9.2.2 (c) Attaching the measurement target

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9.2.3 Robot Poses

standoff

Fig. 9.2.3 measurement poses

Wrist-Axis Vision Mastering uses several types of concepts or terms regarding robot poses: Initial Pose,
Reference Pose and Measurement Poses.
• Initial Pose
A robot pose determined through jogging operation of the robot by an operator at the very first step.
Reference Pose below is automatically generated based on the Initial Pose.
• Reference Pose
A robot pose close to the Initial Pose, where the center of the grid coincides with the center of
camera view and the robot joint angles meet a certain condition. The pose is automatically searched
by the function through visual detection of the grid by the camera and the robot movement.
• Measurement Poses
When Wrist-Axis Vision Mastering starts the measurement for mastering, the robot moves to 9 poses
including the Reference Pose itself and 8 derivations from it, poses with orientation variation in W, P
and R angles, and visual measurement by the camera is done at each robot pose. The 9 robot poses
are called Measurement Poses.

9.2.3.1 Initial Pose

• The initial pose is determined by an operator through jogging operation of the robot. It has some
constraints in the joint angles from J2 to J6 axes.
• In the operation of determining and recording the initial pose, refer to the display as Fig. 9.2.3.1 (a)
shown on a teach pendant that provides upper and lower limits of the joint angles.

NOTE
The lower and upper limits vary by the robot type.

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UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose UNINIT
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
[ TYPE ] [CHOICE]

Fig. 9.2.3.1 (a) Display related to determining the initial pose

NOTE
If the angle of J2 or J3 axis can not be between the lower and upper limit shown
in Fig. 9.2.3.1 (a) in order to avoid interference between the robot and
peripherals for example, then examine that move of the robot to another position
by turning J1 axis where the angles of J2 and J3 axis can be between the limits,
and then record the position as the initial pose.
If you can not do that, the position where the angle of J2 or J3 axis is not
between the limits can be recorded as the initial pose, but as the result, it runs
the risk of degrading mastering results.

• Keep the measurement target away forward from the base section of the robot and tilt the J3 arm
downward as shown below so that the wrist section hardly causes interference.

Hardly interfere

Fig. 9.2.3.1 (b) Wrist pose in which the camera hardly interferes with the robot

• If the measurement target is close backward to the base section of the robot or if the J3 arm is tilted
upward in contrast, the wrist section is liable to cause interference. In that case, the swing angles of
measuring poses must be reduced, involving a risk of degrading mastering results.

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Liable to interfere

Fig. 9.2.3.1 (c) Wrist pose in which the camera is liable to interfere with the robot

• For example, if the upper and lower limits of each axis are shown in Fig. 9.2.3.1 (a) with floor mount
type robot, the pose (J1, J2, J3, J4, J5, J6) = (0 deg, 0 deg, -10 deg, 0 deg, -80 deg, 0 deg) as shown
below is a candidate of the initial pose.

Fig. 9.2.3.1 (d) An example of initial pose

• Check the above for reference to select the initial pose of the robot appropriately.

9.2.3.2 Setting Camera

• After determining and recording the initial pose, set the camera on the floor with a tripod, camera
stand, and so forth.

standoff

• The optical axis of the camera should be almost perpendicular with the face of the grid on the
measurement target.
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• The recommend standoff (the distance between the camera and the measurement target) is about
400mm.
• The center circle of the grid on the measurement target should be near the center of the camera view.

NOTE
Although there are no installation precision requirements imposed on relative
position between the camera and the measurement target, try to fix them
securely so that they do not move during measurement.

9.2.3.3 Reference Pose

• After setting up the camera, the operation related to creating the reference pose will automatically
create it.
• When starting the visual measurement for Wrist-Axis Mastering, 9 sets of the measurement poses are
generated based on the reference pose and the robot moves to each.

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9.3 OPERATION OF WRIST-AXIS VISION MASTERING

This section describes the procedure for Wrist-Axis Vision Mastering.

9.3.1 Outline of the Operation Procedure

Installing the target and the camera

Prepare a camera and target.

For details, refer to Subsection 9.3.2 “Preparing the Camera and
Measurement Target”.

Connecting the camera to the controller or the iPendant

Connect the camera to the controller or the iPendant with the camera cable.

Mounting the target

Mount the target on the end effector mounting face of a robot.

Displaying Wrist-Axis Vision Mastering screen

Display the Wrist-Axis Vision Mastering screen, by selecting ”iRCalibration”

from the “UTILITIES” menu, and then select “Wrist-Axis Vision Mastering”
from the “iRCalibration” menu.
For details, refer to Subsection 9.3.3, “Displaying the Wrist-Axis Vision
Mastering Screen”.

Setting robot group number

Set robot group number.

For details, refer to Subsection 9.3.4, “Setting Robot Group Number”.

Creating Reference Pose

Display the measurement program generation screen from the Wrist-Axis

Vision Mastering screen.
For details, refer to Subsection 9.3.5, “Creating the Reference Pose”.

Choosing camera type

Checking the focal length

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Recording the initial pose

Determine the initial pose that meets a prescribed condition and record it.
The reference pose will be created in vicinity in the initial pose later.

Setting the camera

Setting the exposure time of vision detection

Creating the reference pose

The reference pose is automatically created based on the initial pose.

9 measurement poses will be created based on the reference pose later.

Executing the measurement program

Execute the measurement program for Wrist-Axis Vision Mastering.

For details, refer to Subsection 9.3.6, “Executing the Measurement
Program”.

Executing the measurement program

Updating the mastering data

Update the mastering data.

For details, refer to Subsection 9.3.7, “Updating Mastering Data”.

Calculating and checking the mastering data

Updating the mastering data

Viewing and saving the mastering results

View the mastering results.

Output the mastering results as a log file named as VCWM_LOG.TXT.
For details, refer to Subsection 9.3.8, ”Viewing and Saving Mastering
Results”.

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9.3.2 Preparing the Camera and Measurement Target

Connect the camera to the robot controller or the iPendant with the camera cable. For details, refer to
Subsection 3.1.2, “Connecting the Camera to the Robot Controller or the iPendant”.

Referring to Fig. 9.2.3.1 (a, mount the measurement target on the end effector mounting face.

9.3.3 Displaying the Wrist-Axis Vision Mastering Screen

Procedure 9-1 Displaying the Wrist-Axis Vision Mastering screen
Step
1 Press the MENU key.
2 Select "UTILITIES".
3 Press the F1［TYPE］.
4 Select "iRCalibration".

The following screen appears on the teach pendant.

The available item list of iRCalibration functions is displayed in this screen. The items to be
displayed are different depending on the states of options.

UTILITIES iRCalibration
1/5
1 Vision Master Recovery
2 Wrist-Axis Vision Mastering

[ TYPE ]DISP_IMG DETAIL

5 Move the cursor to "Wrist-Axis Vision Mastering", then press the F4 (DETAIL) or the ENTER key.
The following "Wrist-Axis Vision Mastering" screen appears on teach pendant.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/5
1 Robot Group: 1
2 Create Reference Pose (Not Done)
3 Run : VCMTMAST (Not Done)
4 Update Master CT (Not Done)
5 View Result

[ TYPE ]DISP_IMG

Select and execute each item on the screen sequentially from the top so that the mastering parameters can
be adjusted.

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9.3.4 Setting Robot Group Number

Set Robot Group Number
Move the cursor to "Robot Group" on the Wrist-Axis Vision Mastering screen, and then enter the group
number of the robot with the wrist-axis to be mastered.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/5
1 Robot Group: 1
2 Create Reference Pose (Not Done)
3 Run : VCMTMAST (Not Done)
4 Update Master CT (Not Done)
5 View Result

[ TYPE ]DISP_IMG

9.3.5 Creating the Reference Pose

Procedure 9-2 Creating the Reference Pose
Step
1 Enter Create Reference Pose screen.
Move the cursor to "Create Reference Pose" on the Wrist-Axis Vision Mastering screen, then press
the F4 (SELECT) or the ENTER key.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 2/5
1 Robot Group: 1
2 Create Reference Pose (Not Done)
3 Run : VCMTMAST (Not Done)
4 Update Master CT (Not Done)
5 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays Creating Reference Pose screen as shown below.

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UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/4
Robot Group [1]
1 Camera Type: SONY XC-56
Focal Distance: 12.0 mm
Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose UNINIT
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
[ TYPE ] [CHOICE]

2 Set the camera type.

"SONY XC-56", "BASLER acA640-20um", "KOWA SC36MF", or "iRVision camera" can be
selected as the camera type.
If "SONY XC-56" is connected to JRL7 port of the main board or JRL7A port of the multiplexer,
select "SONY XC-56" as the camera type.
If the camera is set up in the iRVision setup screen, change the camera type from "SONY XC-56" to
"iRVision Camera" and then choose iRVision camera data below item of "Camera Type".
For details, refer to "3.5 USING iRVision CAMERA".

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose UNINIT
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
[ TYPE ] [CHOICE]

3 Check the focal distance (mm).

The value of the focal distance can not be changed.

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UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose UNINIT
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
[ TYPE ] [CHOICE]

4 Move the robot and record the initial pose.

Move the robot to the position to be used as the initial pose, referring to the current joint angle, lower
limit and upper limit of each axis shown below.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 1/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose UNINIT
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
[ TYPE ] [CHOICE]

The initial pose should be determined so that all the joint angles from J2 to J6 are between each
lower/upper limits. If the robot and peripherals could interfere with each other, investigate to
change the J1 angle to avoid it. In case that the interference can not be avoided in any way, avoid
the interference by allowing J2 and J3 angles to exceed the limits.

NOTE
It runs a risk of degrading mastering results if the angle of J2 or J3 axis of the
initial pose is not between the limits.

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UTILITIES iRCalibration
Wrist-Axis Vision Mastering 2/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose UNINIT
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
[ TYPE ] RECORD

Move the cursor to "Initial Pose" on the Creating Reference Pose screen, and move the robot to the
position to be initial pose with reference to each axis "Lower Limit" and "Upper Limit" on the
screen. And then press the SHIFT key and the F5 (RECORD) together.
The current position is recorded as the initial pose. The display on the teach pendant is shown below.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 2/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose RECORDED
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)
Initial pose has been recorded
[ TYPE ] RECORD

5 Set the camera.

Set the camera on the floor with a tripod, camera stand and so on.

Standoff

Fig 9.3.5 Setting camera

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Set the optical axis of the camera almost perpendicular to the face of the calibration grid on the
measurement target.
The recommended standoff (distance between the camera and measurement target) is about 400mm.
Set the center of the grid on the measurement target near the center of the camera image.

NOTE
Although there are no installation precision requirements imposed on the
camera, try to fix it securely so that it does not move during measurement.

6 Set the exposure time (ms) for vision measurement.

Refer to Subsection 3.2 "DISPLAYING THE RUNTIME MONITOR" so that an image and the
Creating Reference Pose screen can be seen simultaneously. The following explains an example of
displaying an image and the Creating Reference Pose screen simultaneously on iPendant. The display
on the teach pendant is shown below.

UTILITIES iRCalibration iRVision Runtime Display

Wrist-Axis Vision Mastering 3/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose RECORDED
3 Exposure Time: 33.33 ms
4 Create Reference Pose (Not Done)

[ TYPE ] TIME+ TIME- LIVE FIND

Set the exposure time on this screen by using function keys. Before setting the exposure time adjust
the lens focus of the camera so that the grid on the measurement target can be clearly viewed at the
initial pose.

Function key functions

F2 (TIME+): Increases the "Exposure Time" value.
F3 (TIME-): Decreases the "Exposure Time" value.
F4 (LIVE): Displays the live image.
F5 (FIND): Detects the calibration grid on the measurement target. If the detection has succeeded,
a + mark is displayed on the dot detected. If the detection has failed, an error
message is displayed.

NOTE
Pressing the F2 or the F3 key while holding down the SHIFT key changes the
value at a faster rate.

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NOTE
Wrist-Axis Vision Mastering uses the exposure time set in this screen.
The exposure time set in "Parameter Setting Screen" or "Model Training Screen"
of Vision Data Setup Screen does not applied to Wrist-Axis Vision Mastering.

Appropriate exposure time:

Adjust the exposure time so that the image does not become pure white but rather gray in the lightest
area of on the calibration grid. Also, adjust the exposure time such that the white background and
black circles can be clearly distinguished.
Some image samples with different exposure time are shown below.

Target image with Target image with Target image with

too short exposure time appropriate exposure time too long exposure time

7 Create the reference pose.

Set the override of the robot to 30% or less when T2 or AUTO mode is selected, and then create a
reference pose. If T1 mode is selected, the override can be improved more than 30%.
Start “Create Reference Pose”, and the reference pose is created while the robot automatically moves
to multiple poses and performs vision measurements. The reference pose is created based on the
results of the vision measurement.

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T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Wrist-Axis Vision Mastering 4/4
Robot Group [1]
1 Camera Type: SONY XC-56
Focal Distance: 12.0 mm
Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose RECORDED
3 Exposure Time: 33.3 ms
4 Create Reference Pose (Not Done)

[ TYPE ] MOVE_TO CREATE

Move the cursor to "Create Reference Pose", then press the SHIFT key and the F5(CREATE) keys
together. The creating the reference pose routing begins. During measurement, the teach pendant
displays the following screen.

T2 30 %
UTILITIES iRCalibration iRVision Runtime Display
Wrist-Axis Vision Mastering 4/4
Robot Group [1]
1 Camera Type: SONY XC-56
Focal Distance: 12.0 mm
Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose RECORDED
3 Exposure Time: 33.3 ms
4 Create Reference Pose (Not Done)

Creating reference Pose ...

[ TYPE ] MOVE_TO CREATE

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NOTE
1 Keep pressing the SHIFT key during the measurement. If pressing the SHIFT
key is interrupted, restart the measurement from the beginning.
2 An attempt to perform camera position measurement during execution of
another program causes an error with the following error message displayed:
"INTP-313 (VCWMCOMM, 202) Motion statement failed, PROG-040 Already
locked by other task"
In this case, select "ABORT (ALL)" on the FCTN menu to terminate the program.

When the measurement is finished, the display on the teach pendant screen is as follows:
• The "Create Reference Pose" status is "Done".
• A message "Reference pose has been created" appears in the prompt window.

UTILITIES iRCalibration iRVision Runtime Display

Wrist-Axis Vision Mastering 4/4
Robot Group [1]
1 Camera Type: SONY XC-56

Focal Distance: 12.0 mm

Initial Pose Confirmation [deg]
Lower Limit Current Upper Limit
J2:[ -10.000][ 0.000][ -10.000]
J3:[ -20.000][ 0.000][ 0.000]
J4:[ -5.000][ 0.000][ -5.000]
J5:[ -95.000][ -90.000][ -85.000]
J6:[ -5.000][ 0.000][ -5.000]
2 Initial Pose RECORDED
3 Exposure Time: 33.3 ms
4 Create Reference Pose (Done )

Reference pose has been created

[ TYPE ] MOVE_TO CREATE

If the error message "J* is near Stroke limit", * is an axis number, appears, the measurement
program may stop along the way. It is recommended to re-record another initial pose with a larger
margin for J* axis and re-create another reference pose. If there is no space to move the robot to
such a position by the surroundings, try to turn J1 axis and move the robot to a place where it can
move more easily, and then record the current pose as the new initial pose.

NOTE
1 You can move the robot to the reference pose if “Create Reference Pose” is
“Done” by pressing the F4(MOVE TO) key while holding down the SHIFT key.
2 If angles of the initial pose are between the lower and upper limits, it is not a
problem if ones of the reference pose are not between the limits.

8 When the pose generation is finished, select the PREV key to return to Wrist-Axis Vision Mastering
screen.

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9.3.6 Executing the Measurement Program

Procedure 9-3 Executing the measurement program
Condition
• Make sure that the "Create Reference Pose" status is "Done".

Step
1 Move the cursor to "RUN", then press the F4 (SELECT) key or the ENTER key.

UTILITIES iRCalibration iRVision Runtime Display

Wrist-Axis Vision Mastering 3/5
1 Robot Group: 1
2 Create Reference Pose (Done )
3 Run : VCMTMAST (Not Done)
4 Update Master CT (Not Done)
5 View Result

[ TYPE ] DISP_IMG SELECT

The Edit Screen of Measurement Program is displayed.

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T2 30 %
VCWMMAST iRVision Runtime Display
1/16
1: OVERRIDE =30%
2:
3: !Measure by Vision
4: CALL VCWM_VT(1, 1)
5: CALL VCWM_VT(2, 1)
6: CALL VCWM_VT(3, 1)
7: CALL VCWM_VT(4, 1)
8: CALL VCWM_VT(5, 1)
9: CALL VCWM_VT(6, 1)
10: CALL VCWM_VT(7, 1)
11: CALL VCWM_VT(8, 1)
12: CALL VCWM_VT(9, 1)
13:
14: !Display iRCalibration screen
15: CALL VCWM_VT(‘iRCalib’)
[END]

[ INST ] [EDCMD]

2 Set the override of the robot to 30% or less when T2 or AUTO mode is selected, and then run the
displayed program. If T1 mode is selected, the override can be improved more than 30%.

NOTE
In case that for any reason the robot can not move to any of the measurement
poses during execution of the measurement program, change and re-teach the
initial pose and re-create the reference pose
For example, in the case that an operator stops the robot because the robot is
going to interfere with the surroundings, re-teach a new initial pose further away
from the surroundings. Or in the case that “SRVO-115 Limit error (G:g, A:a)” (g:
robot group number, a: axis number) occurs and the robot stops, re-teach a new
initial pose with a larger margin of “a” axis. When re-teaching the initial pose and
re-creating the reference pose, start at Step 4 of 9.3.5 “Creating the Reference
Pose” over again.
In the case that such a new reference pose can not be re-created at the robot’s
current position, try jogging J1 axis to move the robot to a new place where the
robot can move more easily, examine, re-teach the new initial pose and
re-create the reference pose there.
If a new reference pose still can not be created after the investigations above,
gradually reduce the second argument value of VCWM_VT from one to near
zero. The smaller the value is, the smaller the swing angles at the measurement
pose is. As the number gets closer to zero, the accuracy of the mastering is
reduced. For best results, keep the number as close to one as possible.

3 After the measurement completes, the Wrist-Axis Vision Mastering screen is displayed automatically.

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9.WRIST-AXIS VISION MASTERING B-83724EN/02

9.3.7 Updating Mastering Data

Procedure 9-4 Updating mastering data
Condition
• Make sure that the "Run" status of the measurement program is "Done".

Step
1 Move the cursor to "Update Master CT", then press the F4 (SELECT) key or the ENTER key.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 4/5
1 Robot Group: 1
2 Create Reference Pose (Done )
3 Run : VCWMMAST (Done )
4 Update Master CT (Not Done)
5 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the mastering data update screen as shown below. The values in
parenthesis () are standard ranges of errors. If there is an item that is out of its standard range, its
notification message is displayed at the lower part of the screen. Also, updating the mastering data is
available even if there is an item that is out of its standard range.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering: 1/4
Update Master CT
Robot Group [1]
Compensation Angles: [deg]
J4: 0.400
J5: 0.500
J6: 0.600

Mean Error of Calibration [mm]:

0.04
Max Error of Calibration [mm]:
0.10 ( 0.50)
Error of Target Position [mm]
X: 0.10 (± 1.00)
Z: 0.10 (± 0.50)
[ TYPE ] UPDATE

NOTE
Mastering parameters are not updated at this point.

2 Confirm the items displayed. If there is no problem, press the F3 (UPDATE) key while holding down
the SHIFT key to update mastering data.

NOTE
This function compensates mastering data to match following positional information 1
and 2 with respect to a robot coordinate system as much as possible about each
measurement pose.
1: the position of the center of the grid measured by vision
2: the position of the center of the grid calculated by the joint angles in performing vision
measurement
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Display items on Updating Mastering Data screen

Compensation Angles
This item indicates the compensation angles for the angular displacement shifted from the zero
position for each rotation axis [degree]
If at least one of Compensation Angles is exceeding 1°, update mastering data and run the
measurement program again, then confirm that the value of Compensation Angles displayed on
Updating Mastering Data screen becomes smaller.

Mean Error of Calibration

This item indicates the mean value of distance between above 1 and 2 of every measurement poses
after compensating angles [mm]

Max Error of Calibration

This item indicates the max value of distance between above 1 and 2 of every measurement poses
after compensating angles [mm]
If this value is much higher than the standard range, the measurement might have not been done
properly. Check if the measurement target, the lens or the camera is not secured, and the lens is out
of focus. And, make another try.

Error of Target Position

This item indicates the difference of the value got by mastering calculation and the designed value in
the design drawing of the measurement target about X and Z components of the center of the grid in
the mechanical interface coordinate system [mm]
If this value is much higher than the standard range, the measurement target might have not been
secured or the measurement target might have not been fixed at the proper place by inserting the
positioning-pins. Check if there is anything wrong, and try again

3 When updating is finished, select the PREV key to return to Wrist-Axis Vision Mastering screen.

4 After updating the mastering data, set the reference position for Quick Mastering again, preparing for
future Quick Mastering. If it has not been set, set it as all the axes’ angles are 0 degree. For details of
Quick Mastering, please refer to "R-30iB / R-30iB Mate OPERATOR’S MANUAL(Basic
Operation)" and “Mechanical Unit Operator’s Manual”.

9.3.8 Viewing and Saving Mastering Results

Procedure 9-5 Viewing and saving mastering results
Step
Move the cursor to "View Result", then press the F4 (SELECT) key or the ENTER key.

UTILITIES iRCalibration
Wrist-Axis Vision Mastering 5/5
1 Robot Group: 1
2 Create Reference Pose (Done )
3 Run : VCMTMAST (Done )
4 Update Master CT (Done )
5 View Result

[ TYPE ]DISP_IMG SELECT

The teach pendant displays the mastering result display screen as shown below.

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UTILITIES iRCalibration
Wrist-Axis Vision Mastering
View Resutl Page 1
Robot Group [1]
Compensation Angles:
J4: 0.400 deg
J5: 0.500 deg
J6: 0.600 deg
Mean Error of Calibration: 0.10 mm
Max Error of Calibration: 0.20 mm
Target position Error X: 0.30 mm
Target position Error Z: 0.40 mm
[ TYPE ] NEXTPAGE OUTPUT

Function key
F4 (NEXTPAGE): Displays the next page.
F5 (OUTPUT): Save VCWM_LOG.TXT, the Wrist-Axis Vision Mastering results logging file
to the file I/O devices (a memory card, an USB memory, etc). For details of
selecting the file I/O devices in the file menu, refer to the "R-30iB / R-30iB
Mate OPERATOR’S MANUAL(Basic Operation)".

NOTE
If VCWM_LOG.TXT already exists, the new results are appended to the current
contents.

9.4 DETAILS OF TP PROGRAMS AND LOG FILE

9.4.1 TP Program
TP Program for Measurement
VCWMMAST

0 LINE
G1 JOINT 10 %
1: OVERRIDE=30%;
2:
3: !Measure by Vision
4: CALL VCWM_VT(1, 1)
5: CALL VCWM_VT(2, 1)
6: CALL VCWM_VT(3, 1)
7: CALL VCWM_VT(4, 1)
8: CALL VCWM_VT(5, 1)
9: CALL VCWM_VT(6, 1)
10: CALL VCWM_VT(7, 1)
11: CALL VCWM_VT(8, 1)
12: CALL VCWM_VT(9, 1)
13:
14: !Display iRCalibration screen
15: CALL VCMT_VT(‘iRCalib’)
[END]

VCWM_VT： This is a KAREL program for positioning by vision

Argument 1: measurement pose number
Argument 2: the value about swing angles at the measurement pose. This
is basically 1, but user can modify this between 0 and 1 for example 0.9,
0.8 and so on if needed.

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(swing angles at the measurement pose) = (Argument 2) times (maximum
swing angles)
And in case Argument 1 is ‘iRCalib’ and Argument 2 is not used as "VCWM_VT(‘iRCalib’) ", if
measurements at all measurement position are done, Wrist-Axis Vision Mastering screen will be
displayed.

9.4.2 Log File

Log File of the Wrist-Axis Vision Mastering Result
VCWM_LOG.TXT

iRCalibration Wrist-Axis Vision Mastering Log File

Robot Group [1]

Robot Model : R2000iB/165F
Robot Number: 2538797
Soft Version: V8.30P/03
Master Time : 14-JUL- 1 18:07
Log Time : 14-JUL- 1 18:07

Gravity Compensation: OFF

New Master Counts：

[1]: 123456
[2]: 123678
[3]: 123789
[4]: 1238889
[5]: 123889
[6]: 12345678
[7]: 0
[8]: 0
[9]: 0

Compensation Angles:
[4]: 0.400 [5]: 0.500 [6]: 0.600

Mean Residual Error: .10

Max Residual Error: .20
Target Position Error X: -.30
Target Position Error Z: .40

Origin Master Counts:

[1]: 123456
[2]: 123678
[3]: 123789
[4]: 1249880
[5]: 155883
[6]: 12345778
[7]: 0
[8]: 0
[9]: 0

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10 VISION TCP SET

10.1 VISION TCP SET
What is Vision TCP Set?
Vision TCP Set automatically sets the tool center point (TCP) of the robot using a camera.
The function sets the TCP at a target position on the tool tip using a camera (vision system).
In case of a 6-axis robot, this function sets XYZWPR of the selected tool frame.
In case of a 4-axis robot or 5-axis robot, this function sets only X and Y components of the selected tool
frame.

Features of Vision TCP Set

Operations other than the camera installation are performed automatically. Manual operations are
therefore simplified, and the operation results do not depend on the skill of the operator.

TP programs used for Vision TCP Set

Vision TCP Set uses robot operation programs (hereinafter referred to as TP programs) to perform a
sequence of operations.
These TP programs can also be created beforehand with offline programming. This can further reduce
work time on the factory floor and accomplish work efficiently in a shorter time.
For details of TP program, see Section 10.4 “Vision TCP Set TP program” in this manual.

10.2 SYSTEM CONFIGURATION

10.2.1 Overall Configuration

The Vision TCP Set system consists of a robot controller, a teach pendant (iPendant), and a camera with
lens.
For the specifications of the camera, camera cable and lens, see Section 2.1, "COMPONENTS".

iPendant Robot controller

Robot

Camera

Camera cable

Lens
Target
(set at TCP position)

Fig.10.2.1 System configuration of Vision TCP Set

Setting the camera

Set the camera on the floor by using a tripod or camera stand.
Ensure that the camera does not move during execution of Vision TCP Set.

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B-83724EN/02 10.VISION TCP SET

Target
Set a target mark to be detected by the vision function at the tool tip position where TCP is to be set.
Ensure that the target does not move during execution of Vision TCP Set.

10.3 VISION TCP SET PROCEDURE

This section describes the procedure for setting TCP with the Vision TCP Set screen.

10.3.1 Outline of the TCP Set Procedure

The Vision TCP Set setup procedure is outlined below.

Connect the camera then set a target and the camera.

Setting of camera and target

Connecting camera to robot controller or iPendant

Setting of camera and target

Setting of TP program Set the parameters for creating a TP program for TCP
creation setting.

Setting on Setup screen

Set the parameters for creating a TP program for TCP setting.

Set a name of a TP program created, Tool Frame number for TCP
setting, a work register number, etc.

Teach a model for target detection with the vision

Setting of Vision data
function. For details, see Chapter 3, "BASIC VISION
FUNCTION OPERATION".

Moving to measurement positions

Move to a position (1 point) where the target is measured by the

camera. While viewing a camera image, move to a position that
enables the target to be in the camera visual field.

Teaching of model

Teach a target model.

Execution of TCP setting Create the TP program and execute it to set TCP.

Fig.10.3.1 Outline of the TCP Set Procedure

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10.3.2 Preparation
1 Connect the camera to the robot controller or the iPendant.
2 Check that a camera image can be displayed on the iPendant, according to the procedure described
in Chapter 3, "BASIC VISION FUNCTION OPERATION".
3 Secure a target to the tool tip of the robot.
4 Secure the camera. Although there is no exact specification as to the position where the camera is
to be installed, make sure the camera is fixed securely so that it does not move during measurement.
The following examples are recommended as marks for the target, including a combination of a circle and
a cross as shown below.

Fig. 10.3.2 (a) Example 1 of a target mark

Fig. 10.3.2 (b) Example 2 of a target mark

Fig. 10.3.2 (c) Example of setting a target mark

A target should have the following features:

• A flat detection surface.
• A contour that makes it easy to recognize the size of the target. (The circle in the above
examples.)
• A contour that makes it easy to recognize rotation within 45 degree range. (The cross in the
above examples.)

NOTE
Glossy materials are not recommended.
If a metal target is required, use one with a frosted surface, such as anodized
aluminum(duralumin).
A handy way to attach a target mark is to affix a sticker with that mark printed on
it.

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B-83724EN/02 10.VISION TCP SET

Installation examples (recommended placement)

When you place a robot, a camera, and a target, it is recommended to place them as shown below if
possible:
1 Set the individual axis positions (J1, J2, J3, J4, J5, J6) of the robot approximately to 0, 0, 0, 0, -90,
and 0 in degrees.
2 Attach the target mark to the tool tip.
3 Install the camera about 400 mm away from the target mark.

Target
mark

about
400mm

Camera

Fig. 10.3.2 (d) Installation example for handling or general use

about
400mm

Fig. 10.3.2 (e) Installation example for arc welding

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10.VISION TCP SET B-83724EN/02

Fig. 10.3.2 (f) Installation example for spot welding

10.3.3 Additional preparation for 4-axis/5-axis Robot

In case of a 4-axis robot or 5-axis robot, Vision TCP Set sets only the X and Y components of the tool
frame. Before executing Vision TCP Set, set the Z components of the tool frame manually as precise as
possible.
Set W, P, R components of the tool frame manually if necessary.

10.3.4 Additional Preparation for M-1iA/0.5A

In case of an M-1iA/0.5A, the appropriate value of some parameters for vision measurement is different
from that for the other robot. (For more detail, see Section 8.5 “Vision TCP Set TP program”.)
The value of these parameters is automatically changed and you do not have to do anything for
M-1iA/0.5A.

10.3.5 Vision TCP Set Screen

You can use the Vision TCP Set screen on the robot teach pendant to perform the setting and operation
for Vision TCP Set.

Procedure 10-1 Displaying Vision TCP Set screen

Step
1 Press the MENU key on the teach pendant.
2 Select “UTILITIES”.
3 Press the F1 [TYPE] key.
4 Select “iRCalibration”.
The UTILITIES iRCalibration screen is displayed.
5 Select “Vision TCP Set”.
The Vision TCP Set screen is displayed.

To return to the Vision TCP Set screen when another screen is displayed after the Vision TCP Set screen
was displayed, steps 1 through 5 above can be used.

Procedure 10-2 Ending the Vision TCP Set screen

Step
Pressing the PREV key on the Vision TCP Set screen exits the Vision TCP Set screen.

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B-83724EN/02 10.VISION TCP SET
When you have finished Vision TCP Set, exit the Vision TCP Set screen. Exiting the Vision TCP Set
screen does not lose the values set while the screen was displayed.

10.3.6 Selecting the Robot Motion Group

Select the robot motion group to be subject to Vision TCP Set. For a system with a single robot, for
example, select "1" as the system has only group 1.

Procedure 10-3 Selecting the robot motion group

Step
1 On the Vision TCP Set screen, specify the motion group number of the robot, on which Vision TCP
Set will be done, at the item of “Robot: Group”

UTILITIES iRCalibration
Vision TCP Set 1/5
1 Robot: Group [1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VTCP1

[ TYPE ]DISP_IMG

10.3.7 Setting for TP Program

Set a variety of conditions for generating TP programs for Vision TCP Set.

Procedure 10-4 Setting for TP program creation

Step
1. Move the cursor to "Setup" on the Vision TCP Set screen, then press the ENTER key.
The setup screen will then appear.

UTILITIES iRCalibration
Vision TCP Set 2/5
1 Robot: Group [1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VTCP1

[ TYPE ]DISP_IMG

2. Check the contents of the setup screen, and make changes as required.
When you have completed the setup, press the PREV key to display the Vision TCP Set screen.

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10.VISION TCP SET B-83724EN/02

UTILITIES iRCalibration
Vision TCP Set: Setup 1/5
1 Program Name: VTCP1 Group[1]
2 Vision Data: VSFT1
3 UTool Number : 1
4 Register (status) : R[ 50]
5 Pos. Register (work): PR[100]

[ TYPE ]

Details of settings
Program Name
This item specifies the name of a TP program to serve for execution of Vision TCP Set.
The TP program having this name will be created later; Vision TCP Set will be performed by
executing the program. (Default value: VTCP1)

Vision Data
This item specifies the name of model data to which to teach a target mark model.
If a target mark model is taught to model data different from the one specified here later, correct this
setting before creating the TP program. (Default value: VSFT1)

Utool Number
This item specifies the number of a tool frame you want to set the position of a target mark on.
The tool frame having the number specified here is set by Vision TCP Set. (Default value: 1)

Register (status)
This item specifies the number of the register to be used for storing a vision detection processing
status. (Default value: 50)

Pos. Register (work)

This item specifies the number of the position register to be used for storing a vision-detected
position. (Default value: 100)

10.3.8 Vision Function Setting

Move the robot to a position where the target can be measured with the camera.
On the vision setup screen, teach the model of the target mark to be detected, and make sure that the
target model can be detected. For the procedure, refer to "3.4.4 Model Training Screen".
To enter the vision setup screen, move the cursor to "Vision Setup" on the Vision TCP Set screen, and
press the ENTER key.

UTILITIES iRCalibration
Vision TCP Set 3/5
1 Robot: Group [1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VTCP1

[ TYPE ]DISP_IMG

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B-83724EN/02 10.VISION TCP SET

Position for vision teaching

Vision teaching is performed with the robot moved to a position satisfying the following conditions.
Create the TP program later at that same position.
• The target is viewed close to the center of a camera field of view.
• The target plane is almost parallel to the camera lens.
• The distance between the camera and the target is about 400 mm.
• A sufficient space is available to prevent peripheral interference during execution of the TP
program.

Lighting the target

If glare appears on the target in the camera image when vision teaching, an inappropriate model may be
taught. In such cases, target mark measurement cannot be performed appropriately and Vision TCP Set
cannot be performed either.
If that is the case, shade the light from the target to prevent intense lighting or apply a frosted, transparent
adhesive tape to the target to suppress reflection so that vision measurement can be performed
appropriately.

10.3.9 Executing Vision TCP Set

Create and execute the TP program to perform TCP setting.

Procedure 10-5 Executing Vision TCP Set

Step
1 Move the robot to a position where the target can be measured with the camera.
(Select a target teaching position as described above, then create and execute the TP program
preferably at the same position. During execution of the TP program created here, the robot
automatically changes the position and posture of the tool to show the target in different orientations
to the camera. Select the position at which the robot does not interfere with its surroundings while
moving.)
2 On the Vision TCP Set screen, move the cursor to "Create Program" and press the ENTER key.
You will be asked whether you want to create the TP program. Follow the on-screen instructions by
pressing the appropriate keys to create the TP program.

UTILITIES iRCalibration
Vision TCP Set 4/5
1 Robot: Group [1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VTCP1

[ TYPE ]DISP_IMG

3 Move the cursor to "Run" and press the ENTER key.

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10.VISION TCP SET B-83724EN/02

UTILITIES iRCalibration
Vision TCP Set 5/5
1 Robot: Group [1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VTCP1

[ TYPE ]DISP_IMG

4 The screen changes to the edit screen, displaying the created TP program.
If you execute the program there, Vision TCP Set is performed. That is, the measured position of the
target mark is set in the specified tool frame.

NOTE
If the “CVIS-021 Exceed VisPool” error stops the execution of the TP program,
cycle controller power and run the TP program again.

NOTE
For 7DC3/10 (V8.30P/10) or later software, in the case of 6-axis robot, call
instructions of the program VCRSM_CHECK, label instructions, and jump
instructions are added to the TP program so that efficient resuming of the
measurement can be done. When the measurement is interrupted by the release
of the SHIFT key, the occurrence of an alarm or other reasons, re-execute the
TP program after moving the cursor to the first line. If a part of the measurement
has been completed, a message “Press 0 (restart) or 9 (resume)” appears.
Press the 0 key to restart the measurement from the beginning or the 9 key to
resume the measurement.

You have now completed Vision TCP Set, but if it is necessary to improve the accuracy of TCP, refer to
Section 10.5 “IMPROVING THE ACCURACY OF TCP”.

10.3.10 Result of Vision TCP Set for a 6-axis Robot

If you are using a 6-axis robot, or a Genkotsu-Robot, when the TP program is normally finished, the
optical axis of the camera is normal (at right angles) to the target plane. On the camera image, the target
rotates about the optical axis of the camera so that the target is oriented in the same direction as in model
teaching.
The following positions and directions are obtained by Vision TCP Set on the tool frame:
• TCP (= the origin of the tool frame) is the center of the target.
• The Z axis of the tool frame is perpendicular to the target plane; the direction from the camera to the
target is Z+.
• The X axis of the tool frame runs vertically (+ upward) on the screen during model teaching.
• The Y axis of the tool frame runs horizontally (+ to the right) on the screen during model teaching.

To change the TCP position or the direction of a coordinate axis of the obtained tool frame, use the
KAREL program VTOFSTUT described later.

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10.3.11 Result of Vision TCP Set for 4-axis/5-axis Robot

If you are using a 4-axis robot, including, a Genkotsu-Robot, or a 5-axis robot, when the TP program is
normally finished, the target is viewed at the center of the camera screen and its posture is the same as the
one before the execution.
The following positions and directions are obtained by Vision TCP Set on the tool frame:
• X and Y components of TCP (= the origin of the tool frame) is the center of the target.
• Z, W, P and R components of the tool frame remain the same as those before the execution.

To change the TCP position or the direction of a coordinate axis of the obtained tool frame, use the
KAREL program VTOFSTUT described later.

10.3.12 Offsetting the Tool Frame with VTOFSTUT

VTOFSTUT is a program for offsetting (shifting) the position or direction of the tool frame.
This program sets a tool frame offset by a specified amount from the current tool frame.
This program can be used, for example, "to offset the TCP by Δ mm in the Z direction of the current tool
frame" or "to reverse the Z-axis direction of the tool frame".

Usage
VTOFSTUT is a KAREL subprogram installed on the robot controller together with the automatic TCP
set function. A TP program calls VTOFSTUT to use it.

CALL VTOFSTUT(grp_num, src_ut, dest_ut,

dx, dy, dz, [dw, dp, dr] )

grp_num: Robot group number

src_ut: Input(source) tool frame number
dest_ut: Output(destination) tool frame number
dx,dy,dz: TCP position offset amount (in mm)
dw,dp,dr: [Optional] Tool frame rotation (WPR) offset amount (in deg)
dw Angular displacement about the X-axis of the current(input) tool frame
dp Angular displacement about the Y-axis of the current(input) tool frame
dr Angular displacement about the Z-axis of the current(input) tool frame

Operation
VTOFSTUT offsets the tool frame that belongs to the group specified in "grp_num" and has the number
specified in "src_ut" by the offset amount specified in "dx, dy, dz, dw, dp, and dr".
The result is set in the tool frame that has the number specified in "dest_ut".
• The same tool frame number may be specified in "src_ut" and "dest_ut". (In this case, the current
tool frame data is overwritten.)
• To offset the TCP position only, the specification of angular displacements (dw, dp, and dr) may be
omitted.
• The first argument (for group number specification) must not be omitted. Even if the system has
only one robot group, specify "1".

Examples
<Example 1> The Z direction of the tool frame is reversed (without changing the
X-axis direction)
This example reverses the direction of the Z-axis without changing the direction of the X-axis.
The current tool frame is rotated 180° about the X-axis to reverse the direction of the Z-axis without
changing the direction of the X-axis of the current tool frame.
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10.VISION TCP SET B-83724EN/02

Offset specification method:

A new tool frame is formed by "rotating the current tool frame 180° about the X-axis (of the current tool
frame)". So, specify the following:

dx = dy = dz = 0 No TCP position offset

dw=180, dp = dr = 0 Rotation by 180° about the X-axis

VTOFSTUT(grp_num, src_ut, dest_ut, 0, 0, 0, 180, 0, 0)

<Example 2> The Z direction of the tool frame is reversed (without changing the
Y-axis direction)
This example reverses the direction of the Z-axis without changing the direction of the Y-axis.
The current tool frame is rotated 180° about the Y-axis to reverse the direction of the Z-axis without
changing the direction of the Y-axis of the current tool frame.

Offset specification method:

A new tool coordinate system is formed by "rotating the current tool frame 180° about the Y-axis (of the
current tool frame)". So, specify the following:

dx = dy = dz = 0 No TCP position offset

dw=0, dp =180, dr = 0 Rotation by 180° about the Y-axis

VTOFSTUT(grp_num, src_ut, dest_ut, 0, 0, 0, 0, 180, 0)

<Example 3> The tool frame is copied.

The tool frame can be copied by setting all offset amounts to 0.
VTOFSTUT(grp_num, src_ut, dest_ut, 0, 0, 0, 0, 0, 0)

Supplement: Order of applying W, P, and R offset amounts

When angular displacements about two or more axes are specified using dw, dp, and/or dr, or position
and rotation offset amounts are specified simultaneously, the order of the offset application is as follows:
(1) Parallel shift of the TCP by dx, dy, and dz
(2) Rotation by dr about the Z-axis
(3) Rotation by dp about the Y-axis
(4) Rotation by dw about the X-axis

This means:
vtofstut(grp_num, 1, 2, dx,dy,dz, dw,dp,dr) has the effect of executing vtofstut in succession in the
order from <1> to <4> as indicated below.
vtofstut(grp_num, 1, 2, dx, dy, dz, 0, 0, 0) <-- <1>
vtofstut(grp_num, 2, 2, 0, 0, 0, 0, 0, dr) <-- <2>
vtofstut(grp_num, 2, 2, 0, 0, 0, 0, dp, 0) <-- <3>
vtofstut(grp_num, 2, 2, 0, 0, 0, dw, 0, 0) <-- <4>

<1> Shift of the TCP by (dx,dy,dz) (without changing the tool coordinate system direction)
<2> Rotation by dr about the Z-axis of the current tool coordinate system
<3> Rotation by dp about the Y-axis of the new tool coordinate system created by <2>
<4> Rotation by dw about the X-axis of the new tool coordinate system created by <3>

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10.4 AUTOMATIC MEASUREMENT

10.4.1 Vision TCP Set Program (7DC3/09 or earlier)

VSETTCP is the program that performs TCP setting.

Usage
To call this subprogram, specify the arguments below. Arguments 2 through 4 are optional and may be
omitted.

Argument 1: Specify a vision data name (model name) by using a character string.
This argument must be specified at all times.
Argument 2: (Optional) Specify the number of a register for storing the result of detection.
When this argument is omitted, register No.50 (R[50]) is used.
Argument 3: (Optional) Specify the name of a position register for storing a vision detection
position. When this argument is omitted, position register No.100 (PR[100]) is used.
Argument 4: (Optional) Specify the group number of a robot used for TCP setting.
When this argument is omitted, group 1 is used. This argument may be omitted when the
system has only one robot group.
When VSETTCP is executed, the robot with the specified group number moves.

Argument 1

Argument 2 (optional)
Argument 3 (optional)

CALL VSETTCP(’VSFT1’, 50, 100 )

Example) When a robot group other than group 1 is specified in argument 4 in a system with multiple
robots

CALL VSETTCP(’VSFT1’, 50, 100, 2)

“Group 2”robot is specified in argument 4

• When a position register number (argument 3) is specified, a register number (argument 2) must also
be specified.
• When a robot group number (argument 4) is specified, a register number (argument 2) and a position
register number (argument 3) must also be specified.

Operation
When VSETTCP is called, the robot in the group specified in the fourth argument (group 1 by default)
automatically performs the vision measurement to calculate TCP and set the specified tool frame active.
The operation differs between 6-axis robot and 4-axis/5-axis robot.

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10.4.2 Vision TCP Set Program (7DC3/10 or later)

VTCPSET is the program that performs TCP setting.

Usage
To call this subprogram, specify the arguments below. Arguments 2 and 3 are optional and may be
omitted.

Argument 1: Specify a vision data name (model name) by using a character string.
This argument must be specified at all times.
Argument 2: (Optional) Specify the group number of a robot used for TCP setting.
When this argument is omitted, group 1 is used. This argument may be omitted when the
system has only one robot group.
When VTCPSET is executed, the robot with the specified group number moves.
Argument 3: (Optional) Specify the measurement number of VTCPSET.
For 6-axis robot, the measurement is completed by executing this program with this
argument from 1 to 10.

• When a measurement number (argument 3) is specified, a robot group number (argument 2) must
also be specified.

Operation
When VTCPSET is called, the robot of the group specified in the second argument (group 1 by default)
automatically performs the (argument 3)-th vision measurement to calculate TCP and set the specified
tool frame active. If the third argument is omitted, all the measurements to calculate TCP and set the
specified tool frame active are performed. The operation differs between 6-axis robot and 4-axis/5-axis
robot.

10.4.3 Automatic Measurement for 6-axis Robot

The operation for 6-axis robot is described below.
1 The robot moves so that the target can be viewed at the center of a camera image.
2 The robot moves back and forth along the optical axis of the camera. (See the following table for
information about the moving distance.)
3 The robot moves to rotate the target about the optical axis of the camera. (See the following table for
information about the rotation angle.)
4 The robot moves to tilt the target relative to the optical axis. (See the following table for information
about tilt angle,.)

In any case, the robot moves while keeping the target placed at the center of a camera image.
The values of above moving distance, rotation angle and tilt angle differ between M-1iA/0.5A and the
robot other than M-1iA/0.5A. The following table lists the values of the parameters for M-1iA/0.5A and
the robot other than M-1iA/0.5A.

Table 10.4.3 The default values of the parameters for the operation of VTCPSET
M-1iA/0.5A Other than M-1iA/0.5A
Moving distance along the optical axis of the camera +/-15 mm +/-25 mm
Rotation angle about the optical axis of the camera +/-5 deg +/-15 deg
Tilt angle relative to the optical axis of the camera +/-5 deg +/-15 deg

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10.4.4 Automatic Measurement for 4/5-axis Robot

The operation for the 4-axis/5-axis robot is described below.
1 The robot moves so that the target can be viewed at the center of a camera image.
2 The robot moves to rotate the target about the robot flange axis (about +/-15 deg).

10.5 IMPROVING THE ACCURACY OF TCP

By increasing the rotation angle and division number for vision measurement, it may be possible to
improve the accuracy of TCP. If it is necessary to improve the accuracy of TCP, follow these steps below
and execute Vision TCP Set program.

Caution
Increasing rotation angle can cause interference with the surroundings, cable
cutoff , and stroke limit. It is necessary to operate carefully by setting the
override lower. To reduce the possibility of these problems, set the initial robot
position at approximately the center of the robot motion.

10.5.1 Improving the Accuracy of X and Y Components of TCP

By increasing the rotation angle and division number about the optical axis of the camera, it may be
possible to improve the accuracy of X and Y components of TCP. The relevant parameters are shown
below. For example, if MOVE_DIST_R is set to 90 deg and DIV_NUM_R is set to 3, vision
measurements are executed with rotation angle about the optical axis of the camera -90, -60, -30, 0, +30,
+60 and +90 deg.

Table 10.5.1 Parameters for improving the accuracy for X and Y components of TCP
Parameter Explanation Default value Recommended value
MOVE_DIST_R Rotation angle about the optical 15 deg 60 ~ 90 deg
axis of the camera
DIV_NUM_R Division number for rotating about 1 2~3
the optical axis of the camera

These two parameters are set by calling the program VTCPINIT. Set the arguments described below.
Argument 1: Specify the name of parameter to set.
Argument 2: Specify the value to be set.

Argument 1 Argument 2

CALL VTCPINIT(‘MOVE_DIST_R, 90)

Add the process to call VTCPINIT as follows. Here is the example of setting MOVE_DIST_R to 90 deg
and DIV_NUM_R to 3.
Add following 2 lines after the call instruction of VTCPINIT without an argument in the TP program
created in “10.3.9 Executing Vision TCP Set”, if the software version is 7DC3/10 (V8.30P/10) or later.

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VTCP1 G1 WORLD 50%

7:J P[1] 30% FINE ;

8: CALL VTCPINIT('INIT',0) ;
9: CALL VTCPINIT ;
10: CALL VTCPINIT('MOVE_DIST_R',90) ;
11: CALL VTCPINIT(' DIV_NUM_R',3) ;
12: CALL VTCPSET('VSFT1',1,1) ;
13:

Add 2 lines

Perform the following operations, if the software version is 7DC3/09 (V8.30P/09) or earlier.
1 Move the cursor to VSETTCP.MR and press F2 (DETAIL) on the program list screen of the teach
pendant.
2 Set “Write protect” to “OFF” on the detail screen.
3 Move the cursor to VSETTCP.MR on the program list screen and select it.
4 Add following 2 lines after the call instruction of VTCPINIT without an argument.

VSETTCP G1 WORLD 50%

12:
13: CALL VTCPINIT('INIT',0) ;
14: CALL VTCPINIT('REG_NUM',AR[2]) ;
15: CALL VTCPINIT('PREG_NUM',AR[3]) ;
16: CALL VTCPINIT ;
17: CALL VTCPINIT('MOVE_DIST_R',90) ;
18: CALL VTCPINIT(' DIV_NUM_R',3) ;
19: CALL VTCPSET(AR[1],AR[4]) ;
[End]
Add 2 lines

5 Reopen the detail screen for VSETTCP.MR, and set “Write protect” to “ON”.

10.5.2 Improving the Accuracy of Z Component of TCP

In case of 6-axis robot including Genkotsu-Robot, by increasing tilt angle and division number relative to
the optical axis of the camera, it may be possible to improve the accuracy of Z component of TCP. This
function doesn’t set Z component of TCP for 4-axis robot and 5-axis robot, so this sub-section is only for
6-axis robot.
The relevant parameters are shown below. Two parameters for tilt angle are the rotation angle about
X-axis and Y-axis of tool frame described in 10.3.10. For example, if MOVE_DIST_W is set to 40 deg,
MOVE_DIST_P is set to 45 deg and DIV_NUM_R is set to 2, vision measurements are executed with
rotation angle about X-axis of the tool frame -40, -20, 0, +20, and +40 deg, rotation angle about Y-axis
-45, -22.5, 0, +22.5 and +45 deg.

Table 10.5.2 Parameters for improving the accuracy for Z component of TCP
parameter Explanation Default value for Default value for Recommended
M-1iA/0.5A the robot other value
than M-1iA/0.5A
MOVE_DIST_W Tilt angle 1 relative to the 5 deg 15 deg 35 ~ 45 deg
optical axis of the
camera
MOVE_DIST_P Tilt angle 2 relative to the 5 deg 15 deg 35 ~ 45 deg
optical axis of the
camera
DIV_NUM_WP Division number for tilting 1 1 2 ～ 4
relative to the optical axis (Don’t set to
of the camera more than 5)

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These three parameters are set by calling the program VTCPINIT. Set the arguments described below.
Argument 1: Specify the name of parameter to set.
Argument 2: Specify the value to be set.

Argument 1 Argument 2

CALL VTCPINIT(‘MOVE_DIST_W, 40)

Add the process to call VTCPINIT as follows. Here is the example of setting MOVE_DIST_W to 45 deg,
MOVE_DIST_P to 45 deg and DIV_NUM_R to 2.
Add following 3 lines after the call instruction of VTCPINIT without an argument in the TP program
created in “10.3.9 Executing Vision TCP Set”, if the software version is 7DC3/10 (V8.30P/10) or later.

VTCP1 G1 WORLD 50%

7:J P[1] 30% FINE ;

8: CALL VTCPINIT('INIT',0) ;
9: CALL VTCPINIT ;
10: CALL VTCPINIT('MOVE_DIST_W',40) ;
11: CALL VTCPINIT('MOVE_DIST_P',45) ;
12: CALL VTCPINIT(' DIV_NUM_R',2) ;
13: CALL VTCPSET('VSFT1',1,1) ;
14:

Add 3 lines

Perform the following operations, if the software version is 7DC3/09 (V8.30P/09) or earlier.
1 Move the cursor to VSETTCP.MR and press F2 (DETAIL) on the program list screen of the teach
pendant.
2 Set “Write protect” to “OFF” on the detail screen.
3 Move the cursor to VSETTCP.MR on the program list screen and select it.
4 Add following 3 lines after the call instruction of VTCPINIT without an argument.

VSETTCP G1 WORLD 50%

12:
13: CALL VTCPINIT('INIT',0) ;
14: CALL VTCPINIT('REG_NUM',AR[2]) ;
15: CALL VTCPINIT('PREG_NUM',AR[3]) ;
16: CALL VTCPINIT ;
17: CALL VTCPINIT('MOVE_DIST_W',40) ;
18: CALL VTCPINIT('MOVE_DIST_P',45) ;
19: CALL VTCPINIT(' DIV_NUM_R',2) ;
20: CALL VTCPSET(AR[1],AR[4]) ;
[End]
Add 3 lines

5 Reopen the detail screen for VSETTCP.MR, and set “Write protect” to “ON”.

NOTE
For 7DC1/10(V8.10P/10) or later software, please set DIV_NUM_WP to 5 or
less. The same setting applies to the Mate controller with 7DD0/03(V8.13P/03)
or later software.

For 7DC1/09(V8.10P/09) or earlier software, set the DIV_NUM_WP to 4 or less.

The same setting applies to the Mate controller with 7DD0/02(V8.13P/02) or
earlier software.

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10.6 TROUBLESHOOTING

10.6.1 An alarm occurs during executing the TP program

An alarm such as ‘MOTN-017 Limit error’, ‘MOTN-018 Position not reachable’, or ‘MOTN-023 In
singularity’ may occur during executing the TP program. In such a case, try creating the program again
after changing initial position of the camera and the target or initial pose of the robot so that the alarm
doesn’t occur.
In case that the alarm still occurs even if the above countermeasure has been taken, add some instructions
in order to narrow the robot-moving range during executing the TP program so that the alarm doesn’t
occur. (This method can be used for 6-axis robots except Genkotsu-robots)

The instructions to be added into the TP program are as follows.

¾ Add 5 lines of the instructions after the instruction for calling VTCPSET with no argument as the
figure below.
¾ Set ’MOVE_DIST_W’, ’MOVE_DIST_P’, ’MOVE_DIST_R’, ’MOVE_DIST_FW’
or ’MOVE_DIST_FP’ as the first argument of each instruction respectively. And set a value
between 5 and 15 to the second argument of each instruction. Note that the smaller these values
are, the less the setting accuracy of the TCP could be, so these values should not be reduced too
much.
¾ Each default value of ’MOVE_DIST_W’, ’MOVE_DIST_P’, ’MOVE_DIST_R’,
’MOVE_DIST_FW’, and ’MOVE_DIST_FP’ is 15.

CALL VTCPINIT
CALL VTCPINIT('MOVE_DIST_W', 15)
CALL VTCPINIT('MOVE_DIST_P', 15)
CALL VTCPINIT('MOVE_DIST_R', 15)
CALL VTCPINIT('MOVE_DIST_FW', 15)
CALL VTCPINIT('MOVE_DIST_FP', 15)
CALL VTCPSET('VSFT1', 1, 1)

NOTE
For 7DC3/09(V8.30P/09) or earlier software, the instruction for calling VTCPSET
with no argument is described in VSETTCP.MR. “Write protect” in the detail
screen of the program list screen needs to be set to “OFF” temporarily in order to
modify VSETTCP.MR.

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11 VISION FRAME SET

This chapter describes Vision Frame Set operation.

11.1 ABOUT VISION FRAME SET

Vision Frame Set
Vision Frame Set semi-automatically sets a user frame using target marks and vision.

Set target marks on three positions including the origin on a fixture for which you want to set a user frame
in advance, measure the target marks with the camera attached to a robot, and set a user frame according
to the target marks.

During the execution of Vision Frame Set, the robot moves to snap images of the target from various
positions with various poses. Execute Vision Frame Set in a place where enough clearance is available
around the target so that the robot does not collide with any object around it when moving.

11.1.1 System Configuration

Overall configuration
Vision Frame Set consists of a robot controller, the teach pendant (iPendant), and a camera.
For the specifications of the camera, camera cable, and lens, see Section 2.1, “COMPONENTS”.

iPendant Robot controller

Robot

Camera Camera cable

Lens

Fig. 11.1.1(a) System configuration of Vision Frame Set

The camera must be attached to the tool tip of the robot. The customer must provide the necessary items
including an attachment adaptor to mount the camera.

NOTE
The customer is to prepare a camera, lens, camera cable, camera attachment
adaptor, and so forth.

Target mark
Set target marks to three positions on a fixture for which you want to set a user frame in advance.
Set target marks to the following three positions in the user frame while aligning the center of each target
mark to the corresponding position:
(1) Origin

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(2) A point on the X-axis of which the X component is positive

(3) A point on the XY plane of which the Y component is positive
Examples of good target marks are shown below. A target mark should be made by combining a circle
and a cross as shown below.

Fig. 11.1.1 (b) Example 1 of a target mark

Fig. 11.1.1 (c) Example 2 of a target mark

A target should have the following features:

• A flat detection surface.
• A contour that makes it easy to recognize the size of the target. (The circle in the above
examples.)
• A contour that makes it easy to recognize rotation within the 45 degree range. (The cross in the
above examples.)

NOTE
Glossy materials are not recommended.
If a metal target is required, use one with a frost surface, such as anodized
aluminum(duralumin).
A handy way to attach a target mark is to affix a sticker with that mark printed on
it.

You should place the three targets such that

• The targets are as far away from each other as possible.
• The targets do not form a straight line. (All inner angles of the triangle made by the three points
must be over 30 degrees.)

11.2 VISION FRAME SET PROCEDURE

This section describes the procedure for using Vision Frame set to set the user.

11.2.1 Preparation
1 Plug the camera cable into the robot controller or the iPendant.
2 Check that a camera image can be displayed on the iPendant, according to the procedure described
in Chapter 3, “BASIC VISION FUNCTION OPERATION”.
3 Secure the camera to the tool tip of the robot.
No precision is imposed on the position of camera attachment. However, secure the camera firmly
so that the camera does not move during the period from the start to end of the measurements.
4 Teach a mark model to be detected then check that the model can be detected. For the procedure,
please refer to "3.4.4 Model Training Screen".
Keep track of the model taught in this step as it is to be used in the subsequent procedure.

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5 Select the user frame you want to set with Vision Frame Set.
Before opening the vision frame set screen, select the user frame number you want to set as the
current user frame.
6 Disable the single step mode.
Before opening the vision frame set screen, disable the single step mode.

NOTE
Before opening the vision frame set screen, select the number of a user frame
you want to set. Check that the current user frame number is not 0. A user
frame with number 0 cannot be modified.

11.2.2 Vision Frame Set Screen

Use the vision frame set screen on the robot teach pendant to set and operate Vision Frame Set.

Procedure 11-1 Displaying the vision frame set screen

Condition
• Select the user frame with a number you want to set as the current user frame.
Check that the current user frame number is not 0.

Step
1 Press the MENU key on the teach pendant.
2 Select “UTILITIES”.
3 Press the F1 [TYPE] key.
4 Select “iRCalibration”.
The UTILITIES iRCalibration screen is displayed.
5 Select “Vision Frame Set”.
The vision frame set screen is displayed.

iRCalibration Vision Frame Set

1/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

Fig. 11.2.2 Vision Frame Set screen

Procedure 11-2 Ending the vision frame set screen

The user can exit this procedure at any time and return at a later time.

Step
On the vision frame set screen, press the PREV key to exit from the screen.

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11.2.3 Selecting the Robot Motion Group

Select the robot motion group for which to execute the Vision Frame Set. For a system having only one
robot, select 1 because the system has only group 1.

Procedure 11-3 Selecting the robot motion group

Step
1 On the vision frame set screen, specify the motion group number of the robot, on which Vision
Frame Set will be done, at the item of ”Robot: Group”.

iRCalibration Vision Frame Set

1/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

11.2.4 Setup
Set conditions for Vision Frame Set.

Procedure 11-4 Setting Vision Frame Set’s settings

Step
1 On the vision frame set screen, move the cursor to “Setup” then press F4 (SELECT).

iRCalibration Vision Frame Set

2/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The Setup screen is displayed as shown below .

Check that the “New” is selected for Calibration Mode.
Check the settings on the Setup screen and for the Vision Schedule described later, and modify the
settings if necessary. Press the F1 (DONE) key to return to the vision frame set screen.
The “Setup” status is updated to “Done”.

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iRCalibration Vision Frame Setup

1/4
1 Program Name: VFRM_G1 Group[1]
2 UFrame Number: 1
3 Calibration Mode: New
4 Vision Schedule: 1

DONE CANCEL SELECT

Setup screen
Details of settings
Program Name
This item specifies the name of a TP program to be run in Vision Frame Set.
A TP program with this name is created in the subsequent procedure and is internally run to perform
frame calibration. (Default: VFRM_Gx. x: Group number)

UFrame Number
This item specifies the number of a user frame to be set.
When the vision frame set screen is opened, the currently selected user frame number is
automatically set.

Calibration Mode
This item specifies the calibration mode.
Select “New”. (Default: New)

Vision Schedule
For settings related to target mark measurement, 10 types of schedules are available.
Move the cursor to the schedule number, then enter a number to change the schedule number.
Move the cursor to “Vision Schedule”, then press the F4 (SELECT) key to display the Vision
Schedule detail screen.
(See Subsection 11.2.5, “Setup – Vision Schedule“.)

11.2.5 Setup – Vision Schedule

Check the settings related to target mark measurement, and modify them if necessary. Press the F1
(DONE) or PREV keys to return to the Setup screen. The settings are stored even when the PREV key
is used to return to the Setup screen.
Vision Detection Schedule
1/12
Vision Detection Schedule[ 1]
Vision Status Register: 10
Vision Position Register: 1
Vision Program: VSFT1
Tool Frames:
Calibrated Utool Number: 8
Position Utool Number: 9
Camera Position:
X: 0.000 Y: 0.000 Z: 0.000
W: 0.000 P: 0.000 R: 0.000
Stereo Move Direction: W
Vision Speed: 50.000 mm/sec
Vision R Distance: 30.000 degree
Vision WP Distance: 15.000 degree
Vision Z Distance: 50.000 mm

DONE

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11.VISION FRAME SET B-83724EN/02

Details of settings
Vision Status Register
This item specifies the register number for storing the vision detection processing state. (Default:
10)

Vision Position Register

This item specifies the position register number for storing the detected position with vision.
(Default: 1)

Vision Program
This item specifies the name of model data to which a target mark model is taught.
When the TP program is run, target marks are detected using model data specified for this item.
(Default: VSFT1)
The vision program is set in “Vision Data Setup” Screen. For detail, see “3.4 VISION SET UP
SCREEN”.

Tool Frames / Calibrated Utool Number

This item specifies the number of the tool frame where the camera attachment position found by
camera calibration is stored. (Default: 8)

NOTE
The customer does not have to set the value of “Tool Frames / Calibrated Utool
Number” in advance. This tool frame is used temporally by Vision Frame Set.

Tool Frames / Position Utool Number

This item specifies the number of the tool frame where the initial camera attachment position is
stored. (Default: 9)

NOTE
The customer does not have to set the value of “Tool Frames / Position Utool
Number” in advance. This tool frame is used temporally by Vision Frame Set.

Camera Position
This item sets the camera position with respect to the robot faceplate. Set the camera position in X,
Y, and Z. Set the optical axis direction of the camera in W, P, and R.
The required precision of the position is within about +/-50 mm. The required precision of
direction is within about +/-15 degrees.
(Default for each of X, Y, Z, W, P, and R: 0)

CAUTION
When setting the camera position, ensure that the optical axis (lens center axis)
of the camera is the Z-axis, and the direction from the camera toward a
measurement target is the Z+ direction.
If the direction of the Z-axis or the camera position is incorrect, a measurement
target can move to the outside of the field of view of the camera when the robot
moves during measurement.

Stereo Move Direction

This item specifies the tilt direction of the camera at the time of the target mark measurement.
(Default: W)
W : tilts the camera about the X-axis in the tool coordinate system.
P : tilts the camera about the Y-axis in the tool coordinate system.

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Vision Speed
This item specifies the operation speed at which to perform vision detection several times with
different positions and poses during target mark measurement. (Default: 50)

Vision R Distance
This item specifies the rotation angle about the optical axis of the camera. (Default: 30)

Vision WP Distance
This item specifies the tilt angle relative to the optical axis of the camera. (Default: 15)

Vision Z Distance
This item specifies the moving distance along the optical axis of the camera. (Default: 30)

NOTE
The Vision R Distance, Vision WP Distance and Vision Z distance are displayed
in the following software version:
• 7DC1/12 (V8.10P/12) or later
• 7DD0/07 (V8.13P/07) or later
Earlier software versions do not support modification of these variables.

11.2.6 Teach Points

Teach a home position and three positions where three target marks can be measured with the camera.

Procedure 11-5 Teaching the points for measurement

Step
1 On the vision frame set screen, move the cursor to “Teach Points” then press the F4 (SELECT)
key.

iRCalibration Vision Frame Set

3/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The “Points screen” is displayed as shown below .

On the Points screen, teach the home position and positions where each of the three target marks can
be measured (the target mark is inside the field of view of the camera), a total of four positions.
Move the robot to a position to be taught, move the cursor to the relevant item, then press SHIFT
and F3 (RECORD) keys together to teach the position.
After teaching all the positions, press the PREV key to return to the vision frame set screen.
Then, the “Teach Points” status is updated to Done.

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11.VISION FRAME SET B-83724EN/02

Vision Frame Points

1/4
Program Name: VFRM_G1
Robot Group: 1
Frame Schedule: 1
Vision Sched: 1

Home Position: UNINIT

Orient Origin Point: UNINIT
X Direction Point: UNINIT
Y Direction Point: UNINIT

CLEAR LOAD RECORD MV_JNT MV_LIN

Points screen

NOTE
By opening “Points screen”, the tool frame number automatically shifts to the
number of “Tool Frames / Position Utool Number” on the Vision Schedule detail
screen. Teach the four positions with this tool frame. You don’t have to set user
frame number to a specific number.

NOTE
1 Teach the four positions with the same user frame number and tool frame
number.
2 Select the same user frame number and tool frame number when you create TP
programs later. To avoid confusion, after teaching the four positions, proceed to
the creation of the TP program without changing the user frame number and tool
frame number.

About teach points

Home Position
For a TP program for Vision Frame Set, the robot moves to the home position before the start of the
measurements. After the completion of the measurements, the robot moves to the home position
and the TP program ends.
This item is the home position.

Orient Origin Point

In the user frame for calibration, the position where the following can be measured:
(1) Target mark set on the origin

X Direction Point
In the user frame for calibration, the position where the following can be measured:
(2) Target mark set on a point on the X-axis of which the X component is positive

Y Direction Point
In the user frame for calibration, the position where the following can be measured:
(3) Target mark set on a point on the XY plane of which the Y component is positive

NOTE
For software versions equal to or earlier than 7DC1/11 (V8.10P/11), 7DD0/06
(V8.13P/06), the “Orient Origin Point”, “X Direction Point” and “Y Direction Point”
are displayed as “Position 1”, “Position 2”, “Position 3”, but the meaning of these
parameters is the same.
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About function keys

F1 (CLEAR)
Deletes all taught positions.

F2 (LOAD)
When a TP program for Vision Frame Set has already been created, pressing the F2 (LOAD) key
teaches corresponding position data in the TP program as position data on this screen.

F3 (RECORD)
Pressing the SHIFT and F3 (RECORD) keys together teaches position data at the cursor as the
current position.

F4 (MV_JNT)
Pressing SHIFT and F4 (MV_JNT) keys together moves the robot to the cursor position in the
joint mode.

F5 (MV_LIN)
Pressing the SHIFT and F5 (MV_LIN) keys together moves the robot to the cursor position in
the linear mode.

11.2.7 Creating the TP Program for Vision Frame Set

Create a TP program to be run in Vision Frame Set.

Procedure 11-6 Creating the TP program

Step
1 On the vision frame set screen, move the cursor to “Create Program” then press the F4 (SELECT)
key.
Then, a TP program for Vision Frame Set is created.

iRCalibration Vision Frame Set

4/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

A confirmation message may be displayed in some cases. Perform the operation as instructed in
the message.

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11.2.8 Running the TP Program for Vision Frame Set

Run the TP program for Vision Frame Set.

Procedure 11-7 Running the TP program

Step
1 On the vision frame set screen, move the cursor to “Run” then press the F4 (SELECT) key.
Then, a confirmation message is displayed. Press the SHIFT and F2 (YES) keys together to run
the TP program.
When the execution is normally completed, the “Run” status is updated to “Done”.

iRCalibration Vision Frame Set

5/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

CAUTION
During execution, the robot moves to snap images of the target from various
positions with various poses.
Run the program in a place where enough clearance is available around the
taught positions so that the robot does not collide with any object around it when
moving.

NOTE
Even if “CVIS-021 Exceed VisPool” occurs while the TP program is running, it is
no problem if it is normally completed.
If that error stops the TP program, please cycle the power of the robot controller
and run the TP program again.

11.2.9 Updating the User Frame

Update the frame calibrated using the target marks and vision to the user frame.

Procedure 11-8 Updating the user frame

Step
1 On the vision frame set screen, move the cursor to “Update UFrame” then press the F4 (SELECT)
ky.

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iRCalibration Vision Frame Set

6/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Done )
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The “Calibration Result confirmation screen” is displayed as shown below is.

Press the F2 (UPDATE) key. A confirmation message is displayed. Press the F2 (YES) key to
update the user frame settings with the calibration result.
On the Calibration Result confirmation screen, press the PREV key to display the vision frame set
screen.

Frame Calibration Result

New UFrame [G:1, 1]

X: 1074.019 Y: 557.170 Z: 86.444
W: -0.003 P: 0.001 R: -0.001

UPDATE
Calibration Result confirmation screen

When the user frame is updated, the “Update UFrame” status is updated to “Done”.
Now, the execution of Vision Frame Set is completed.

11.2.10 Viewing the Past Results

From the “View Result” menu, past calibration results can be viewed.

On the vision frame set screen, move the cursor to “View Result” then press the F4 (SELECT) key.
Then, the newest calibration result is displayed.

iRCalibration Vision Frame Set

7/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Done )
6 Update UFrame[ 1](Done )
7 View Result

[ TYPE ]DISP_IMG SELECT

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On this screen, press the F4 (VIEW LOG) key to display several older calibration results.

Frame Calibration Result

New UFrame [G:1, 1]

X: 1074.019 Y: 557.170 Z: 86.444
W: -0.003 P: 0.001 R: -0.001

VIEW LOG

On this log display screen, the log can be output to a text file and an old calibration result can be applied
to the user frame.
Press the F2 (SAVE) key to output log data text file ufrm_log.dt to the currently selected file device.
Press the F3 (APPLY) key to apply the calibration result at the cursor to the user frame.
Press the F4 (CLEAR) key to erase all log data on this screen. When these operations are performed, a
confirmation message is displayed. Perform the operation as instructed in the message.

User Frame Log

1/40
Date Time X(W) Y(P) Z(R)
02-JUL-14 16:57 989.3 -3.3 394.1
UFrame Num[ 1] -89.9 .0 .5
No XYZ Data
No WPR Data
No XYZ Data
No WPR Data
No XYZ Data
No WPR Data
No XYZ Data
No WPR Data

SAVE APPLY CLEAR

11.3 MODIFYING A UFRAME ON A REAL ROBOT BASED ON

A UFRAME OF AN OFFLINE ROBOT
Vision Frame Set also has a function which modifies a user frame set on an offline programming system
for the real system.
In this case, since the positions of the target marks are handled as reference points, any point does not
need to match the origin of the user frame. Set the positions of the three target marks so that they are not
on the same straight line (collinear).

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B-83724EN/02 11.VISION FRAME SET

Three
target marks
Three
target marks

Z
Z
X X

User frame
on the fixture
Y Wanted
Y
user frame
on the fixture

Offline fixture position Real fixture position

With the relativity between the target marks and the user frame
on the offline system, calculate back to an user frame for a real
robot from measurement results of real target marks.

Fig. 11.3 Modifying an offline user frame

This section describes the procedure for modifying the user frame set offline for the user frame for a real
robot according to the actual measurement result in an environment in which the target marks are set in
the same positions in the offline and real systems.

11.3.1 Preparation
1 Plug a camera cable into the robot controller or the iPendant.

2 Check that a camera image can be displayed on the iPendant, according to the procedure described
in Chapter 3, “BASIC VISION FUNCTION OPERATION”.
3 Secure the camera to the tool tip of the robot.
No precision is imposed on the position of the camera attachment. However, secure the camera
firmly so that the camera does not move during the period from the start to the end of the
measurements.
4 Teach a mark model to be detected, then check that the model can be detected. For the procedure,
refer to "3.4.5 Model Training Screen".
Remember the data name of the model taught in this step since it is to be used in the subsequent
procedure.
5 Check the positions of the target marks set offline.
Since the positions of the target marks in the user frame set offline are used in the subsequent
procedure, check them.
6 Select a user frame you want to set with Vision Frame Set.
Before opening the vision frame set screen, select the user frame with a number you want to set as
the current user frame.
7 Disable the single step mode.
Before opening the vision frame set screen, disable the single step mode.

NOTE
Before opening the vision frame set screen, select the number of a user frame
you want to set and check that the current user frame number is not 0. A user
frame with number 0 cannot be set.

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11.3.2 Vision Frame Set Screen

Use the vision frame set screen on the robot teach pendant to set and operate Vision Frame Set.

Procedure 11-9 Displaying the vision frame set screen

Condition
• Select the user frame number you want to set as the current user frame.
Check that the current user frame number is not 0.
Step
1 Press the MENU key on the teach pendant.
2 Select “UTILITIES”.
3 Press the F1 [TYPE] key.
4 Select “iRCalibration”.
The UTILITIES iRCalibration screen is displayed.
5 Select “Vision Frame Set”.
The vision frame set screen is displayed.

iRCalibration Vision Frame Set

1/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

Fig. 11.3.2 Vision frame set screen

Procedure 11-10 Ending the vision frame set screen

Step
On the vision frame set screen, press the PREV key to exit from the screen.

11.3.3 Selecting the Robot Motion Group

Select the robot motion group for which to execute Vision Frame Set. For example, for a system having
only one robot, select 1 because the system has only group 1.

Procedure 11-11 Selecting the robot motion group

Step
1 On the vision frame set screen, specify the motion group number of the robot, on which Vision
Frame Set will be done, at the item of ”Robot: Group”.

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iRCalibration Vision Frame Set

1/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

11.3.4 Setup
Set conditions for Vision Frame Set.

Procedure 11-12 Setting Vision Frame Set’s settings

Step
1 On the vision frame set screen, move the cursor to “Setup” then press the F4 (SELECT) key.

iRCalibration Vision Frame Set

2/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The Setup screen is displayed as shown below .

Set Calibration Mode to “Nominal” and set the values of target mark positions to Nominal Data.
Check other settings on the Setup screen and settings for Vision Schedule described later and modify
them if necessary. Press the F1 (DONE) key to display the vision frame set screen.
Then, the “Setup” status is updated to Done.

iRCalibration Vision Frame Setup

1/5
1 Program Name: VFRM_G1 Group[1]
2 UFrame Number: 1
3 Calibration Mode: Nominal
4 Vision Schedule: 1
5 Nominal Data: (Not Done)

DONE CANCEL SELECT

Setup screen

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Details of settings
Program Name
This item specifies the name of a TP program to be run in Vision Frame Set.
A TP program with this name is created in the subsequent procedure and is internally run to perform
frame calibration. (Default: VFRM_Gx. x: Group number)

UFrame Number
This item specifies the number of a user frame to be set.
When the vision frame set screen is opened, the currently selected user frame number is
automatically set.

Calibration Mode
This item specifies the calibration mode.
Select “Nominal”. (Default: New)

Vision Schedule
For settings related to target mark measurement, 10 types of schedules are available.
Move the cursor to the schedule number then enter a number to change the schedule number.
Move the cursor to “Vision Schedule” then press F4 (SELECT) to display the Vision Schedule
detail screen.
(See Subsection 11.2.5, “Setup – Vision Schedule“.)

Nominal Data
Set the positions of the target marks set offline.
Move the cursor to “Nominal Data” then press F4 (SELECT). The Nominal Data screen as shown
below is displayed.

Vision Frame Nominal Data

1/3
Frame Origin Nominal Position:
X: 0.000 Y: 0.000 Z: 0.000
X-Direction Point Nominal Position:
X: 0.000 Y: 0.000 Z: 0.000
Y-Direction Point Nominal Position:
X: 0.000 Y: 0.000 Z: 0.000

DONE
Nominal Data screen

On this screen, set the values of the positions of the target marks viewed from the origin of the user
frame. In other words, set the positions of the target marks in the user frame set offline.
Set position data of the target marks for each of the “Frame Origin”, “X-Direction”, and
“Y-Direction” parts. Then, press the F1 (DONE) key to return to the Setup screen.

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11.3.5 Teach Points

Teach a home position and three positions where three target marks can be measured with the camera.

Procedure 11-13 Teaching the points for measurement

Step
1 On the vision frame set screen, move the cursor to “Teach Points” then press the F4 (SELECT) key.

iRCalibration Vision Frame Set

3/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The “Points screen” as shown below is displayed.

On the Points screen, teach the home position and positions where each of the three target marks can
be measured (the target mark is inside the field of view of the camera), a total of four positions.
Move the robot to a position to be taught, move the cursor to the relevant item, then press the SHIFT
and F3 (RECORD) keys together to teach the position.
After teaching all the positions, press the PREV key to display the vision frame set screen.
Then, the “Teach Points” status is updated to Done.

Vision Frame Points

1/4
Program Name: VFRM_G1
Robot Group: 1
Frame Schedule: 1
Vision Sched: 1

Home Position: UNINIT

Orient Origin Point: UNINIT
X Direction Point: UNINIT
Y Direction Point: UNINIT

CLEAR LOAD RECORD MV_JNT MV_LIN

Points screen

About teach points

Home Position
For a TP program for Vision Frame Set, the robot moves to the home position before the start of the
measurements. After the completion of the measurements, the robot moves to the home position
and the TP program ends.
This item is the home position.

Orient Origin Point

This item indicates the position where the target mark set on reference point 1 can be measured

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11.VISION FRAME SET B-83724EN/02

X Direction Point
This item indicates the position where the target mark set on reference point 2 can be measured

Y Direction Point
This item indicates the position where the target mark set on reference point 3 can be measured

NOTE
For software versions equal or earlier than 7DC1/11 (V8.10P/11), 7DD0/06
(V8.13P/06), the “Orient Origin Point”, “X Direction Point” and “Y Direction Point”
are displayed as “Position 1”, “Position 2”, “Position 3”, but the meaning of these
parameters is same.

About function keys

F1 (CLEAR)
Deletes all taught positions.

F2 (LOAD)
When a TP program for Vision Frame Set has already been created, pressing the F2 (LOAD) key
teaches corresponding position data in the TP program as position data on this screen.

F3 (RECORD)
Pressing the SHIFT and F3 (RECORD) keys together teaches position data at the cursor as the
current position.

F4 (MV_JNT)
Pressing the SHIFT and F4 (MV_JNT) keys together moves the robot to the cursor position in the
joint mode.

F5 (MV_LIN)
Pressing the SHIFT and F5 (MV_LIN) keys together moves the robot to the cursor position in the
linear mode.

11.3.6 Creating the TP Program for Vision Frame Set

Create a TP program to be run in Vision Frame Set.

Procedure 11-14 Creating the TP program

Step
1 On the vision frame set screen, move the cursor to “Create Program” then press the F4 (SELECT)
key.
Then, a TP program for Vision Frame Set is created.

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iRCalibration Vision Frame Set

4/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

A confirmation message can be displayed in some cases. Perform the operation as instructed in the
message.

11.3.7 Running the TP Program for Vision Frame Set

Run the TP program for Vision Frame Set.

Procedure 11-15 Running the TP program

Step
1 On the vision frame set screen, move the cursor to “Run”, then press the F4 (SELECT) key.
Then, a confirmation message is displayed. Press the SHIFT and F2 (YES) keys together to run
the TP program.
When the execution is completed normally, the “Run” status is updated to Done.

iRCalibration Vision Frame Set

5/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

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11.VISION FRAME SET B-83724EN/02

CAUTION
1 During the execution, the robot moves to snap images of the target from various
directions.
Run the program in a place where enough clearance is available around the
taught positions so that the robot does not collide with any object around it when
moving.
2 You must keep pressing the SHIFT key during the measurement. If the SHIFT
key is released, the measurement is stopped.
3 If the camera image is too dark or too bright and vision detection fails and the
measurement is stopped, try changing the exposure time. Refer to “3.4.4.1
Adjusting the Exposure Time” for more details.
4 For 7DC3/10 (V8.30P/10) or later software, when you resume the measurement
after interruption, if a part of the measurement has been completed, the
confirmation message to select “RESUME” or “RESTART” is displayed. Then, if
“RESUME” is selected, the measurement is resumed. If “RESTART” is selected,
the measurement is restarted from the beginning.

NOTE
Even if “CVIS-021 Exceed VisPool” occurs while the TP program is running, it is
no problem if it is normally completed.
If that error stops the TP program, cycle controller power, ¥ and run the TP
program again.

11.3.8 Updating the User Frame

Update the frame calibrated using the target marks and vision to the user frame.

Procedure 11-16 Updating the user frame

Step
1 On the vision frame set screen, move the cursor to “Update UFrame” then press the F4 (SELECT)
key.

iRCalibration Vision Frame Set

6/7
1 Robot: Group [1] Device: Vision
Calibration Type: New_UFrame
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Done )
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The “Calibration Result confirmation screen” as shown below is displayed.

Press the F2 (UPDATE) key. A confirmation message is displayed. Press the F2 (YES) key to
update the user frame settings with the calibration result.
On the Calibration Result confirmation screen, press the PREV key to display the vision frame set
screen.

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B-83724EN/02 11.VISION FRAME SET

Frame Calibration Result

New UFrame [G:1, 1]

X: 1074.019 Y: 557.170 Z: 86.444
W: -0.003 P: 0.001 R: -0.001

UPDATE
Calibration Result confirmation screen

When the user frame is updated, the “Update UFrame” status is updated to Done.
Now, the execution of Vision Frame Set is completed.

11.4 VISION FRAME SHIFT

A function named Vision Frame Shift is also available, which is conceptually similar to Vision Frame Set.
It modifiesa user frame set offline for a real robot.

Three
target marks
Three
target marks

Z
Z
X X
Existent correct
user frame
Wanted user frame
Y Y to be restored after
relocation

Fixture position before relocation Fixture position after relocation

Before relocation, the relativity between the target marks and the existent
correct user frame is measured and memorized.
After relocation, with that relativity, calculate back to an user frame from
measurement results of target marks.

Fig. 11.4 Vision Frame Shift

This function is useful for relocating a system operating with the existing correct user frame.

Set the user frame after relocation of the fixture based on the target with vision by using the relationship
between the targets and the user frame before relocation.
Since the positions of the target marks are handled as reference points, any point does not need to match
the origin of the user frame. Set the positions of the three target marks so that they are not on the same
straight line, however.

This section describes the procedure for performing measurement before relocation and modifying the
user frame after relocation with Vision Frame Shift.

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11.4.1 Preparation
1. Connect a camera to the robot controller or the iPendant.
2. Check that a camera image can be displayed on the iPendant, according to the procedure described
in Chapter 3, “BASIC VISION FUNCTION OPERATION”.
3. Secure the camera to the tool tip of the robot.
No precision is imposed on the position of camera attachment. However, secure the camera firmly
so that the camera does not move during the period from the start to the end of the measurements.
4. Teach a mark model to be detected, then check that the model can be detected. For the procedure,
refer to "3.4.4 Model Training Screen".
Remember the data name of the model taught in this step since it is to be used in the subsequent
procedure.
5. Select a user frame you want to set with Vision Frame Shift.
Before opening the vision frame shift screen, select the user frame number you want to set as the
current user frame.
6 Disable the single step mode.
Before opening the vision frame set screen, disable the single step mode.
NOTE
Before opening the vision frame shift screen, select the number of a user frame
you want to set and check that the current user frame number is not 0. A user
frame with number 0 cannot be set.

11.4.2 Vision Frame Shift Screen

Use the vision frame shift screen on the robot teach pendant to set and operate Vision Frame Shift.

Procedure 11-17 Displaying the vision frame shift screen

Condition
• Select the user frame with a number you want to set as the current user frame.
A user frame with number 0 cannot be set.
Step
1 Press the MENU key on the teach pendant.
2 Select “UTILITIES”.
3 Press the F1 [TYPE] key.
4 Select “iRCalibration”.
The UTILITIES iRCalibration screen is displayed.
5 Select “Vision Frame Shift”.
The vision frame shift screen is displayed.

iRCalibration Vision Frame Shift

1/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

Fig. 11.4.2 Vision frame shift screen
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B-83724EN/02 11.VISION FRAME SET

Procedure 11-18 Ending the vision frame shift screen

Step
On the vision frame shift screen, press the PREV key to exit from the screen.

11.4.3 Outline of the Procedure

The following figure outlines the Vision Frame Shift operation procedure after preparation.

Selecting the robot motion group

Setup

Teach Points for mesuring

target marks

Creating TP
program
If there isn't a target mark within the view of the
camera after relocation, the taught point for
measuring must be modified. However,
Measuring before relocation
(Run TP program) Don’t re-teach points on the vision frame shift screen.
Don’t re-create TP program on the vision frame shift
screen.
Relocation of system
Instead, please open the EDIT screen of the TP program,
and modify the position data of the move instruction directly.
Measuring after relocation
(Run TP program) If points are re-taught on the vision frame shift screen or the
TP program is re-created on the vision frame shift screen,
measuring after relocation can not be executed.

Updating the user frame

Fig. 11.4.3 Vision frame shift procedure

Note the following when operating Vision Frame Shift:

1) Execute “Run” (running a TP program) twice. Run it one time before the relocation of the
system (measurement before relocation) and one time after relocation (measurement after
relocation).
(Execute “Run” after relocation in the status in which “Run” is set to Done.)
2) To modify a taught position in the TP program for measurement after the relocation of the
system, open the TP program in the EDIT screen and directly modify the taught position in the
program.
(After relocation, do not create any program by executing “Create Program” in the vision frame
shift screen.)

CAUTION
After the relocation of the system, if it is necessary to modify a taught measurement
position, open the TP program on the EDIT screen and directly modify the taught
position.
After the relocation of the system, do not modify a taught position or re-create a TP
program from the vision frame shift screen. If a TP program is re-created after the
completion of the measurement before relocation, the measurement after relocation
cannot be performed, resulting in a Vision Frame Shift failure.

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11.VISION FRAME SET B-83724EN/02

11.4.4 Selecting the Robot Motion Group

Select a robot motion group for which to run Vision Frame Shift. For example, for a system having only
one robot, select 1 because the system has only group 1.

Procedure 11-19 Selecting the robot motion group

Step
1 On the vision frame shift screen, specify the motion group number of the robot, on which Vision
Frame Shift will be done, at the item of ”Robot: Group”.

iRCalibration Vision Frame Shift

1/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

11.4.5 Setup
Set conditions for Vision Frame Shift.

Procedure 11-20 Setting Vision Frame Shift’s settings

Step
1 On the vision frame shift screen, move the cursor to “Setup” then press F4 (SELECT).

iRCalibration Vision Frame Shift

2/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Not Done)
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The Setup screen is displayed as shown below .

Check the settings on the Setup screen and for UFrame Schedule and Vision Schedule described
later, and modify them if necessary. Press the F1 (DONE) key to return to the vision frame shift
screen.
The “Setup” status is updated to “Done”.

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B-83724EN/02 11.VISION FRAME SET

iRCalibration Vision Frame Setup

1/5
1 Program Name: VFRM_G1 Group[1]
2 UFrame Number: 1
3 Calibration Mode: Standard
4 UFrame Schedule: 1
5 Vision Schedule: 1

DONE CANCEL SELECT

Setup screen

Details of settings
Program Name
Specify the name of a TP program to be run in Vision Frame Shift.
A TP program with this name is created in the subsequent procedure and is internally run to perform
frame calibration. (Default: VFRM_Gx. x: Group number)

UFrame Number
Specify the number of a user frame to be set.
When the vision frame shift screen is opened, the currently selected user frame number is
automatically set.

Calibration Mode
Specify the calibration mode.
Normally, select “Standard”.
When the target user frame for Vision Frame Shift is a Dynamic UFrame, select
“Dynamic_UFrame”. In this case, also set “CD Pair Number” in UFrame Schedule described later.
(Default: Standard)

UFrame Schedule
For settings related to behaviors of Vision Frame Shift, 10 types of schedules are available.
Move the cursor to the schedule number then enter a number to change the schedule number.
Move the cursor to “UFrame Schedule” then press the F4 (SELECT) key to display the UFrame
Schedule detail screen.
(See Subsection 11.4.6, “Setup – UFrame Schedule”.)

Vision Schedule
For settings related to target mark measurement, 10 types of schedules are available.
Move the cursor to the schedule number then enter a number to change the schedule number.
Move the cursor to “Vision Schedule” then press the F4 (SELECT) key to display the Vision
Schedule detail screen.
(See Subsection 11.2.5, “Setup – Vision Schedule“.)

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11.VISION FRAME SET B-83724EN/02

11.4.6 Setup – UFrame Schedule

Check the settings related to behaviors of Vision Frame Shift and modify them if necessary. Press the
PREV key to return to the Setup screen.

UFrame Schedule
1/9
Schedule Number[ 1]
1 Auto Update: TRUE
2 Store Offset: FALSE
3 In PR[0 ]
4 Max. XYZ Offset: 30.000 mm
5 Report on DOUT[ 0]
6 Max. Orient Offset: 5.000 deg
7 Fit Error Register: 0
8 Max. Dev. Register: 0
9 CD Pair Number: 0

TRUE FALSE

Details of settings
Auto Update
No setting is required.
Leave the default.

Store Offset
When this item is valid, the amount of shift of the measurement result after relocation from the
measurement result before relocation is output to the position register with the number specified for
“In PR” below. (Default: FALSE)
In PR
This item specifies the register number to output the amount of shift above. When a value of 0 is
specified, no data is output. (Default: 0)

Max. XYZ Offset

If the amount of shift from the measurement result before relocation to that after relocation is larger
than expected, Vision Frame Shift can be made to fail. This item specifies the positional
component of the allowable shift amount to complete Vision Frame Shift with no failure. (Default:
30)

Report on DOUT
If the shift amount described above exceeds “Max. XYZ Offset” above or “Max. Orient Offset”
below, a digital I/O can be turned on for 500 ms. This item specifies the number of the digital I/O
output. When a value of 0 is specified, no data is output. (Default: 0)

Max. Orient Offset

If the amount of shift from the measurement result before relocation to that after relocation is larger
than expected, Vision Frame Shift can be made to fail. This item specifies the posture component
of the allowable shift amount to complete Vision Frame Shift with no failure. (Default: 5)

Fit Error Register

This item specifies the register number to output the average positional error (mm) of calculation for
calibration. When a value of 0 is specified, no data is output. (Default: 0)

Max. Dev. Register

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This item specifies the register number to output the maximum amount of shift (mm) between the
measurement result of each target mark before relocation and that after relocation. When a value of
0 is specified, no data is output. (Default: 0)

CD Pair Number
When the target user frame for Vision Frame Shift is a Dynamic UFrame, specify its CD_pair
number. (Default: 0)

11.4.7 Teach Points

Teach a home position and three positions where three target marks can be measured with the camera.

Procedure 11-21 Teaching the points for measurement

Step
1 On the vision frame shift screen, move the cursor to “Teach Points” then press the F4 (SELECT)
key.

iRCalibration Vision Frame Shift

3/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Done )
3 Teach Points (Not Done)
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The “Points screen” as shown below is displayed.

On the Points screen, teach the home position and positions where each of the three target marks can
be measured (the target mark is inside the field of view of the camera), a total of four positions.
Move the robot to a position to be taught, move the cursor to the relevant item, then press SHIFT
and F3 (RECORD) keys together to teach the position.
After teaching all the positions, press the PREV key to return to the vision frame shift screen.
Then, the “Teach Points” status is updated to Done.

Vision Frame Points

1/4
Program Name: VFRM_G1
Robot Group: 1
Frame Schedule: 1
Vision Sched: 1

Home Position: UNINIT

Orient Origin Point: UNINIT
X Direction Point: UNINIT
Y Direction Point: UNINIT

CLEAR LOAD RECORD MV_JNT MV_LIN

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About teach points

Home Position
For a TP program for Vision Frame Shift, the robot moves to the home position before the start of
the measurements. After the completion of the measurements, the robot moves to the home
position and the TP program ends.
This item is the home position.

Orient Origin Point

This item indicates the position where the target mark set on reference point 1 can be measured

X Direction Point
This item indicates the position where the target mark set on reference point 2 can be measured

Y Direction Point
This item indicates the position where the target mark set on reference point 3 can be measured

NOTE
For software versions equal or earlier than 7DC1/11 (V8.10P/11), 7DD0/06
(V8.13P/06), the “Orient Origin Point”, “X Direction Point” and “Y Direction Point”
are displayed as “Position 1”, “Position 2”, “Position 3”, but the meaning of these
parameters are same.

About function keys

F1 (CLEAR)
Deletes all taught positions.

F2 (LOAD)
When a TP program for Vision Frame Shift has already been created, pressing the F2 (LOAD) key
teaches corresponding position data in the TP program as position data on this screen.

F3 (RECORD)
Pressing the SHIFT and F3 (RECORD) keys together teaches position data at the cursor as the
current position.

F4 (MV_JNT)
Pressing the SHIFT and F4 (MV_JNT) keys together moves the robot to the cursor position in the
joint mode.

F5 (MV_LIN)
Pressing the SHIFT and F5 (MV_LIN) keys together moves the robot to the cursor position in the
linear mode.

11.4.8 Creating the TP Program for Vision Frame Shift

Create a TP program to be run in Vision Frame Shift.

Procedure 11-22 Creating the TP program

Step
1 On the vision frame shift screen, move the cursor to “Create Program” then press the F4
(SELECT) key.
Then, a TP program for Vision Frame Shift is created.

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iRCalibration Vision Frame Shift

4/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Not Done)
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

A confirmation message may be displayed in some cases. Perform the operation as instructed in
the message.

CAUTION
Create a TP program as described in this step only before relocation; never
after relocation.
If a TP program is re-created after relocation, the steps from measurement
before relocation must be repeated, otherwise Vision Frame Shift fails.

11.4.9 Running the TP Program for Vision Frame Shift (perform

before relocation)
Execute measurement before relocation.
Run the TP program for Vision Frame Shift.

Procedure 11-23 Running the TP program

Step
1 On the vision frame shift screen, move the cursor to “Run” then press the F4 (SELECT) key.

If the TP program has already been run before relocation (“Run” is already set to Done) at this time,
a confirmation message is displayed, which asks whether the TP program is to be run after relocation.
Since the TP program is to be run before relocation in this step, press the F5 (REMASTER) key.
Another confirmation is displayed, which asks whether to overwrite mastering data. Press the F2
(YES) key and proceed to the next step.

Then, a confirmation message is displayed. Pressthe SHIFT and F2 (YES) keys together to run
the TP program.
When the execution is normally completed, the “Run” status is updated to “Done”.

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iRCalibration Vision Frame Shift

5/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Not Done)
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

CAUTION
1 During the execution, the robot moves to snap images of the target from various
directions.
Be sure there is enough clearance around the taught positions to avoid collisions
with other fixtures.
2 You must keep pressing the SHIFT key during the measurement. If the SHIFT
key is released, the measurement is stopped.
3 If the camera image is too dark or too bright and vision detection fails and the
measurement is stopped, you should try changing exposure time. Refer to
“3.4.4.1 Adjusting the Exposure Time” for more details.
4 For 7DC3/10 (V8.30P/10) or later software, when you resume the measurement
after interruption, if a part of the measurement has been completed, the
confirmation message to select “RESUME” or “RESTART” is displayed. Then, if
“RESUME” is selected, the measurement is resumed. If “RESTART” is selected,
the measurement is restarted from the beginning.

NOTE
Even if “CVIS-021 Exceed VisPool” occurs while the TP program is running, it is
no problem if it is completed normally.
If that error stops the TP program, cycle controller, and run the TP program
again.

11.4.10 Running the TP Program for Vision Frame Shift (after

relocation)
Execute measurement after the relocation of the system.
Run the TP program for Vision Frame Shift.

Procedure 11-24 Running the TP program

Step
1 On the vision frame set screen, move the cursor to “Run” then press the F4 (SELECT) key.
Then, a confirmation message is displayed, which asks whether the TP program is to be run after
relocation since it has already been run before relocation (“Run” is already set to Done).
In this step, press the F2 (YES) key to run the TP program after relocation.

Then, a confirmation message is displayed. Press the SHIFT and F2 (YES) keys together to run
the TP program.

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iRCalibration Vision Frame Shift

5/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Done )
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

CAUTION
1 Do not run the TP program after relocation if remastering is performed. The
stored remastering data is overwritten and Vision Frame Shift will fail.
2 During execution, the robot moves to snap images of the target from various
directions.
Be sure there is enough clearance to avoid colliding with other fixtures in the
workcell.
3 You must keep pressing the SHIFT key during the measurement. If the SHIFT
key is released, the measurement is stopped.
4 If the camera image is too dark or too bright and vision detection fails and the
measurement is stopped, try changing the exposure time. Refer to “3.4.4.1
Adjusting the Exposure Time” for more details.
5 For 7DC3/10 (V8.30P/10) or later software, when you resume the measurement
after interruption, if a part of the measurement has been completed, the
confirmation message to select “RESUME” or “RESTART” is displayed. Then, if
“RESUME” is selected, the measurement is resumed. If “RESTART” is selected,
the measurement is restarted from the beginning.

NOTE
Even if “CVIS-021 Exceed VisPool” occurs while the TP program is running, it is
no problem if it is normally completed.
If that error stops the TP program, cycle controller power, and run the TP
program again.

11.4.11 Updating the User Frame

Update the frame calibrated using the target marks and vision to the user frame.

Procedure 11-25 Updating the user frame

Step
1 On the vision frame shift screen, move the cursor to “Update UFrame” then press the F4 (SELECT
key.

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iRCalibration Vision Frame Shift

6/7
1 Robot: Group [1] Device: Vision
Calibration Type: UFrame_Recovery
2 Setup (Done )
3 Teach Points (Done )
4 Create Program (Done )
5 Run : VFRM_G1 (Done )
6 Update UFrame[ 1](Not Done)
7 View Result

[ TYPE ]DISP_IMG SELECT

2 The Calibration Result confirmation screen is displayed as shown below .

Press the F2 (UPDATE) key. A confirmation message is displayed. Press the F2 (YES) key to
update the user frame settings with the calibration result.
On the Calibration Result confirmation screen, press the PREV key to return to the vision frame
shift screen.

Frame Calibration Result

UFrame Offset[G:1, 1]
X: -0.485 Y: 0.009 Z: -0.001
W: -0.003 P: 0.000 R: 0.007

UFrame XYZ Change: 0.485 mm

UFrame Angular Change: 0.008 deg
Mean Fit Error: 0.041 mm
Maximum Deviation: 0.527 mm

UPDATE
Calibration Result confirmation screen

When the user frame is updated, the “Update UFrame” status is updated to “Done”.
Now, the execution of Vision Frame Shift is completed.

NOTE
For a Dynamic UFrame, the user frame setting is not updated directly.
The Leader Frame setting is updated according to the calibration result.
To update the Leader Frame to the Dynamic UFrame, turn the power to the
controller off, then on again.

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12 VISION SHIFT
12.1 ABOUT VISION SHIFT
Vision shift
Vision shift has two separate functions.
• The taught positions of a program can be modified if the system is moved or reinstalled.
• The positions of a robot program created with the offline programming system can be modified
on the factory floor.
The positions of three reference points set on a fixture or workpiece are measured with the camera
attached to a robot. The positional relationship between the robot and fixture or workpiece is calculated
accurately. The TP program data is shifted.

Measurement based on Vision shift

When Vision shift is used, the camera is temporarily attached to the EOAT of a robot. Vision shift uses
the camera to measure the positions of reference points on a fixture or workpiece.
Vision shift uses robot TP programs to calculate the position of the camera. The camera is attached to the
robot EOAT.
TP programs can be created beforehand by using the offline programming system of the robot. This
method reduces factory downtime since the TP program creation does not required the robot controller
that is running production...
For details of TP programs, see "12.5 SPECIFICATIONS OF TP PROGRAMS FOR VISION SHIFT".

Program shift
The six reference points (three points before reinstallation and three points after reinstallation) are stored
in position registers. The positions are measured with Vision shift. These reference points are used in a
position shift operation. Use the program edit screen’s online shift function to specify a shift.
The online shift function is divided into two types:
• three-point shift function using three reference points
• one-point shift function using the difference between the teach position on the current line and
the current robot position.
Program teaching can be checked easily. Use the three-point shift operation result of the Vision shift
measurement. Afterwards, check and adjust the teach position using the one-point shift operation.

12.2 OUTLINE OF VISION SHIFT

12.2.1 SYSTEM CONFIGURATION

Overall configuration
Vision shift consists of a robot controller, the teach pendant (iPendant), and a camera.

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iPendant Robot controller

Robot

Camera Camera cable

Lens

Fig. 12.2.1(a) System configuration of Vision shift

The camera must be attached to the robot’s EOAT securely. The customer must provide the necessary
hardware to mount the camera to the robot’s EOAT.

NOTE
1 The user is responsible for the camera, lens, camera cable, camera attachment
adaptor, and other camera support equipment.
2 For multiple group systems, Vision shift only supports robots in group 1.
3 Vision shift only supports 6-axis robots.

Target mark
Two recommended targets are shown below. The second target is a combination of a circle and a cross.

Fig. 12.2.1 (b) Example 1 of a target mark

Fig. 12.2.1 (c) Example 2 of a target mark

A target should have the following features:

• A flat detection surface.
• A contour that makes it easy to recognize the size of the target. (See the circle in the above
examples.)
• A contour that makes it easy to recognize rotation within a 45 degree range. (The cross in the
above examples.)

NOTE
Glossy materials are not recommended.
If a metal target is required, use one with frosted surface, such as anodized
aluminum(duralumin).
A handy way to attach a target mark is to affix an affixing sticker with that mark
printed on it.

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You should place the three targets such that
• The targets are as far away from each other as possible.
• The targets do not form a straight line. (All inner angles of the triangle made by the three points
must be over 30 degrees.)

12.2.2 Vision shift procedure

Vision shift can be used two ways.
• In one method, the function performs a shift operation based on reinstallation, which compensates
for any installation errors that occur before and after system reinstallation.
• In the second method, the function performs an offline shift operation, which is used when a robot
program created with the offline programming system is applied to an operation on the factory floor.
This section describes the procedure for two ways.

Connect the camera then set a target and the camera.

Setting camera and target

Setting initial setting Set position register number and so on from the initial
setting screen.

Move to a position where the target is measured by the

Setting vision data
camera and then teach a model for vision detection.

Creating and confirming TP Select the measurement method and teach three or four
program points where the target is measured by the camera.
Confirm the created TP program. (The measurement
method can be selected by the sub-program called by TP
program)

Measuring Reference Points Measure reference points before reinstallation by the

before Reinstallation execution of TP program.

Reinstallation Reinstall the system.

Measuring Reference Points Measure reference points after reinstallation by the

after Reinstallation execution of TP program.

Three-point shift The taught positions of a program are shifted according to

the measurement result of both before and after
reinstallation.

The taught positions of a program are shifted as necessary.

One-point shift

Fig. 12.2.2(a) Outline of the procedure for shift operation based on reinstallation

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Setting camera and target Connect the camera then set a target and the camera.

Set position register number and so on from the initial

Setting initial setting
setting screen.

Setting vision data Move to a position where the target is measured by the
camera and then teach a model for vision detection.

Creating and confirming TP Select the measurement method and teach three or four
program points where the target is measured by the camera.
Confirm the created TP program. (The measurement
method can be selected by the sub-program called by TP
program)
Setting reference points in Input the position of reference points in off-line into position
off-line register.

Changing status of reference Set the status of reference points for before reinstallation
points DONE.

Measuring reference points Measure reference points by the execution of TP program.

Three-point shift The taught positions of a program are shifted according to

the measurement result of both before and after
reinstallation.

One-point shift The taught positions of a program are shifted as necessary.

Fig. 12.2.2 (b) Outline of the procedure for Offline shift

12.2.3 Selection of the measurement method

As shown in Table 12.2.3, the available type of measurement method for Vision shift differs depending
on the version of the software.
For Vision Shift on 7DC1/09(V8.10P/09), 7DD0/02(V8.13P/02) or earlier software, the Vision Shift only
supports the stereo measurement method which requires a large workspace. Later versions of Vision Shift
support the Visual touch-up measurement method in addition to the stereo measurement method used in
later software versions.

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B-83724EN/02 12.VISION SHIFT
Table 12.2.3 Selectable measurement method by version of system software
System software Stereo measurement method Visual touch-up method
7DC2(V8.20P) or later
7DC1(V8.10P) P10 or later • •
7DD0(V8.13P) P03 or later
7DC1(V8.10P) P09 or earlier
•
7DD0(V8.13P) P02 or earlier

As shown in Fig. 12.2.3, both measurement methods perform camera position calibration as its first step,
and then performs reference point measurement. Camera position calibration can be performed by the
target mark which is mounted at arbitrary places, but reference point measurement must be performed by
the target mark which is mounted on the workpiece or fixture.

In case of Stereo measurement method In case of Visual touch-up method

Camera position calibration Camera position calibration
Target Camera
mark Target Camera
mark

Measuring reference points Measuring reference points

（Stereo measurement method） （Visual touch-up method）

Fig. 12.2.3 Two types of measurement method for Vision shift

For the stereo measurement method, the robot does not perform the extra orientation change during
camera position calibration, but adds extra orientations during the reference point measurements. For the
visual touch-up method, the robot adds extra orientations during the camera position calibration, but does
not have extra motion during reference point measurement. If the workspace is limited, use the visual
touch-up method. Use the stereo measurement method if there is sufficient space.

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12.3 MEASUREMENT BASED ON VISION SHIFT

This section describes the shift operation based on reinstallation. See Subsection 12.3.10 for the "Offline
Shift Operation" details, describing its differences from shift operation based on reinstallation.

12.3.1 Preparation
1 Plug the camera cable into the robot controller or the iPendant.
2 Check that the camera image can be displayed on the iPendant, according to the procedure described
in "3 BASIC VISION FUNCTION OPERATION".
3 Secure the camera to the tool tip of the robot.
No precision requirement is imposed on the position of camera attachment. However make sure the
camera is secure and does not move when measuring.

12.3.2 Starting and Ending Measurement Based on Vision Shift

Use the Vision shift screen on the robot teach pendant to perform Vision shift setting and measurement
operations.
If you have two or more screens displayed on the iPendant, use the left-side screen to display the Vision
shift screen. It will not work from the right display pane.

Procedure 12-1 Starting Vision shift

Step
1 Press the MENU key on the teach pendant.
2 Select “UTILITIES”.
3 Press the F1, [TYPE] key.
4 Select “iRCalibration”.
The UTILITIES iRCalibration screen is displayed.
5 Select “Vision Shift”.
The Vision shift screen is displayed.

You can return to the Vision shift screen anytime using steps 1 through 5 (above).

Procedure 12-2 Ending Vision shift

Step
Select “0: Exit” on the Vision shift screen.
The Vision shift screen is closed.

Upon completion of measurement based on Vision shift, close the Vision shift screen. Measurement
results are not lost.

12.3.3 Checking Initial Settings

With Vision shift two robot tool frames, one register, as many as (1 + 6 ×) measurement areas, and
position registers are required. They are specified on the initial setting screen of Vision shift.

Procedure 12-3 Starting the initial setting screen

Step
1 Start Vision shift with the robot controller.
The Vision shift screen is displayed.
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B-83724EN/02 12.VISION SHIFT
2 Select “1: Check setting data” on the Vision shift screen.

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Not yet)
2: Vision Setup

0: Exit

Select operation : Enter 1.

[ TYPE ]DISP_IMG

The initial setting screen is displayed.

3 Check the contents of the initial setting screen and make modifications if necessary.
• If no modification is required, press the PREV key.
• If a modification is required, move the cursor to the item to be modified, then change the value.
Next, press the F5 (MODIFY) key.
• When using two or more areas, set each area by pressing the
F2 (AREA) key to switch the area.

UTILITIES iRCalibration
Vision Shift 1/16
Setting Data : Area 1
Tool Frame
1 Result of calibration 8
2 Camera position 9
Number of shift area 1
Camera position (TOOL)
4 Camera position X = 1300.000
5 Camera position Y = 200.000
6 Camera position Z = -130.000
7 Camera position W = 0.000
8 Camera position P = 0.000
9 Camera position R = 0.000

Stereo move direction (Tool) W

Position Register (Reference points)
Before
11 Reference point 1 PR[ 50]
12 Reference point 2 PR[ 51]
13 Reference point 3 PR[ 52]
After
14 Reference point 1 PR[ 53]
15 Reference point 2 PR[ 54]
16 Reference point 3 PR[ 55]
[ TYPE ] AREA MODIFY

Details of settings
Tool Frame/Result of Calibration
This item specifies the number of the tool frame used to store the found camera attachment position
(found by program). (Default: 8)

Tool Frame/Camera Position

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This item specifies the number of the tool frame used to store the initial (rough) camera attachment
position (entered by user). (Default: 9)
Number of shift area
This item specifies the number of areas to be measured. Up to five areas can be specified.
(Default: 1)
If there are multiple areas to be measured, pressing F2 (AREA) displays the settings of the next
area. The number of the currently displayed area is displayed on the top line of the teach pendant.

Camera position (TOOL)

Set the initial estimated position (tool frame) of the camera with respect to the robot faceplate. Set
the camera position in X, Y, and Z. Set the optical axis direction of the camera in W, P, and R.
The required precision of position is within about +/-50 mm. normally this is the center of the lens
exterior. The required precision of direction is within about +/-15 degrees.
(Default for each of X, Y, Z, W, P, and R: 0)

CAUTION
When setting a camera tool coordinate system, make sure the tool z axis is
aligned with the camera lens center line. The positive Z axis goes into the
camera.
If the Z-axis direction or the camera position is incorrect, the robot may move
outside of the field of view of the target during calibration.

Stereo move direction (Tool)

Specify the tilt direction of the camera. This setting is valid only for Stereo measurement method
(Default: W)
W: tilts the camera about the X-axis in the tool coordinate system.
P: tilts the camera about the Y-axis in the tool coordinate system.

Position Register (Reference points)

This item specifies the position register numbers to store the reference points. Two sets (before and
after) of position registers are required
Before / Reference point 1–3
This item specifies the position register numbers in which to store the positions of three
reference points before reinstallation.
After/ Reference point 1- 3
This item specifies the position register numbers in which to store the positions of three
reference points after reinstallation.

NOTE
“Camera position(TOOL)”, “Stereo move direction (TOOL)” and “Position
Register (Reference points)” needs to be set for each area.
When using multiple areas, check the settings of each area by pressing the F2
(AREA) key to switch the area.

Ending initial setting

If no modification has been made, press the PREV key.
If a setting has been modified, press the F5 (MODIFY) key.

Upon completion of initial setting confirmation, the processing selection screen of Vision shift displays
items other than the initial setting items.

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UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Not yet)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

NOTE
The settings made on the initial setting screen are saved as comment
statements in the TP programs VSMAIN and VSSUB1 through VSSUB5.
For details of TP programs, see "SPECIFICATIONS OF TP PROGRAMS FOR
VISION SHIFT".

12.3.4 Setting up Vision

On the Vision Data Setup Screen, teach the model of the target.

Procedure 12-4 Testing programs

Step
1 Select “2: Vision Setup” on the Vision shift screen.

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Not yet)

6: Status of ref pos

7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

2 Teach the model on the Vision Data Setup Screen. (For the procedure, please refer to "3.4.4 Model
Training Screen".)

3 Press the PREV key to go back to the Vision shift screen.

12.3.5 Creating and Testing Programs for Vision Shift Measurement

Create robot TP programs to measure the of reference positions on a workpiece or fixture with the
camera.

Creating measurement programs

Create TP programs VSFIND1 through VSFIND5 in the measurement areas.

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These programs call the following subprograms:

Table 12.3.5 Subprogram called in TP program

Stereo measurement method Visual touch-up method
(1) Subprogram for initial setting VSINIT VSFINIT
(2) Subprogram for camera position calibration VSCAMCLB VSF_TCP
(3) Subprogram for reference point measurement VSFNDREF VSF_REF

VSFIND0 is a sample program for Stereo measurement method and VSFINDA is a simple program for
Visual touch-up method. You can use these sample programs as template in creating your own TP
programs.

The contents of VSFIND0 and VSFINDA are shown below. Teach three or four points before calling the
above subprograms. The taught points should meet the following criteria:
• The target must be at the central of the image.
• The distance between the camera and target is about 400 mm.

VSFIND0.TP (Stereo measurement method) VSFINDA.TP (Visual touch-up method)

1: UFRAME_NUM=0 ; 1: UFRAME_NUM=0 ;
2: UTOOL_NUM=9 ; 2: UTOOL_NUM=9 ;
3: ; 3: ;
4: CALL VSINIT ; (1) 4: CALL VSFINIT ;
5: ; 5: ;
6:J P[1:P1] 30% FINE ; 6:J P[1:P1] 30% FINE ;
7: CALL VSCAMCLB('VSFT1') ; 7: CALL VSFINIT('MOVE_DIST_W',15) ;
8: CALL VSFNDREF(1,'VSFT1') ; 8: CALL VSFINIT('MOVE_DIST_P',15) ;
9: ; (2) 9: CALL VSFINIT('MOVE_DIST_R',15) ;
10:J P[2:P2] 30% FINE ; 10: CALL VSFINIT('DIV_NUM_WP',1) ;
11: CALL VSFNDREF(2,'VSFT1') ; 11: CALL VSFINIT('DIV_NUM_R',1) ;
12: ; 12: CALL VSF_TCP('VSFT1') ;
13:J P[3:P3] 30% FINE ; 13: PAUSE ;
14: CALL VSFNDREF(3,'VSFT1') ; 14: ;
[End] (3) 15:J P[2:P2] 30% FINE ;
16: CALL VSFINIT('MOVE_DIST_WP',0) ;
17: CALL VSF_REF(1,'VSFT1') ;
18: ;
19:J P[3:P3] 30% FINE ;
20: CALL VSFINIT('MOVE_DIST_WP',0) ;
21: CALL VSF_REF(2,'VSFT1') ;
22: ;
23:J P[4:P4] 30% FINE ;
24: CALL VSFINIT('MOVE_DIST_WP',0) ;
25: CALL VSF_REF(3,'VSFT1') ;
[End]

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “12.5.5 Details of TP Programs”.

In the above example, in case of Stereo measurement method the reference point for camera position
calibration is the same as the one for measuring one of reference points, and in case of Visual touch-up
method the reference point for camera position calibration is different form the one for measuring one of
reference points. For both measurement methods, the teaching point before VSCAMCLB or VSF_TCP
can be the same or different as the one before VSFNDREF or VSF_REF.

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B-83724EN/02 12.VISION SHIFT

NOTE
1 Vision shift does not create VSFIND1 to VSFIND TP programs. Users have to
create them using VSFIND0 or VSFINDA as template.
2 For detail information about of VSFIND1 to VSFIND5, see "12.5
SPECIFICATIONS OF TP PROGRAMS FOR VISION SHIFT".

Testing programs
Test the TP programs to be used for reference point measurement.

Procedure 12-5 Testing programs

Condition
• Verify "Test robot completed” appears in line 2 on the Vision shift screen.
• Verify the required measurement TP programs (VSFIND1 to VSFIND5) have been created.

Step
1 Select “3: Test robot program” on the Vision shift screen.

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Not yet)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

2 Press the F4 (NEXT) key on the screen as shown below.

If multiple areas are measured, you enter the number of an area to be checked.

UTILITIES iRCalibration
Vision Shift
Test robot program
Test robot program for operation
Please push F4(NEXT) to start
robot program test

NEXT CANCEL

3 The screen display switches to the edit screen, and the program (from VSFIND1 to VSFIND5)
corresponding to the selected area is displayed.
Execute the program to perform a reference point measurement test operation (Camera position
calibration).
Modify, add, or delete taught positions as needed.

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12.VISION SHIFT B-83724EN/02

For Stereo measurement method For Visual touch-up method

VSFIND1 G1 WORLD 30% VSFIND1 G1 WORLD 30%

1: UFRAME_NUM=0 1: UFRAME_NUM=0
2: UTOOL_NUM=9 2: UTOOL_NUM=9
3: 3:
4: CALL VSINIT 4: CALL VSFINIT
5: 5:
6:J P[1:P1] 30% FINE 6:J P[1:P1] 30% FINE
7: CALL VSCAMCLB('VSFT1') 7: CALL VSFINIT('MOVE_DIST_W',15)
8: CALL VSFNDREF(1,'VSFT1') 8: CALL VSFINIT('MOVE_DIST_P',15)
9: 9: CALL VSFINIT('MOVE_DIST_R',15)
10:J P[2:P2] 30% FINE 10: CALL VSFINIT('DIV_NUM_WP',1)
11: CALL VSFNDREF(2,'VSFT1') 11: CALL VSFINIT('DIV_NUM_R',1)
[ INST ] [EDCMD]> [ INST ] [EDCMD]>

NOTE
1 Execute “CALL VSINIT” or “CALL VSFINIT” first.
2 Adjust each taught reference position so that the target is at the central position
of the screen. Also, adjust the distance between the camera and reference
points to about 400 mm (+/-50 mm).
3 Re-teach the measurement position if an interference occurred with peripheral
or reached robot motion limit.

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “12.5.5 Details of TP Programs”.
For 7DC3/10 (V8.30P/10) or later software, if the measurement is interrupted by
the release of the SHIFT key, the occurrence of an alarm or other reasons,
re-execute the TP program after moving the cursor to the first line. If a part of the
measurement has been completed, a message “Press 0 (restart) or 9 (resume)”
appears. Press the 0 key to restart the measurement from the beginning or the 9
key to resume the measurement.

4 Upon completion of program execution, the Vision shift operation screen is displayed. After
checking the program, press the F5 (CANCEL) key The Vision shift screen is displayed.
To continue checking the program, press the F4 (NEXT) key.

UTILITIES iRCalibration
Vision Shift
Test robot program
Test robot program for operation
Please push F4(NEXT) to start
robot program test

NEXT CANCEL

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B-83724EN/02 12.VISION SHIFT

NOTE
“Test robot program” is used to teach a measurement motion to VSFINDi and to
test the motion, but does not actually measure the reference points.

12.3.6 Measuring Reference Points before Reinstallation

After checking the initial settings and robot program, measure the reference points before reinstallation.

Procedure 12-6 Measuring reference points before reinstallation

Condition
• "Check setting data" must have been completed.
If "Check setting data" has not been completed, "Get ref pos [BEFORE]" is not displayed on the
Vision shift screen.
• Measurement TP programs (VSFIND1 to VSFIND5) corresponding to areas to be measured must
have been created.

Step
1 Adjust the lens focus, aperture setting, and shutter speed so that reference points can be clearly
viewed at a measurement position.

CAUTION
Adjust the lens focus and aperture setting before executing a reference point
measurement. Do not change the focus and aperture settings during reference
point measurement.

2 Select “4: Get ref pos [BEFORE]” on the Vision shift screen.

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Not yet)

6: Status of ref pos

7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

3 Press the F4 (NEXT) key on the screen as shown below.

If multiple areas are measured, you enter the number of an area to be measured.

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12.VISION SHIFT B-83724EN/02

UTILITIES iRCalibration
Vision Shift
Get Reference Points [BEFORE] / Area 1
Ref pos measurement will be
started
Please push F4(NEXT) to start
ref pos measurement

NEXT CANCEL

4 The screen display switches to the edit screen, and the program (from VSFIND1 to VSFIND5)
corresponding to the selected area is displayed.
Execute the program from the first line to the last to perform a reference point measurement.

For Stereo measurement method For Visual touch-up method

1: UFRAME_NUM=0 ; 1: UFRAME_NUM=0 ;
2: UTOOL_NUM=9 ; 2: UTOOL_NUM=9 ;
3: ; 3: ;
4: CALL VSINIT ; 4: CALL VSFINIT ;
5: ; 5: ;
6:J P[1:P1] 30% FINE ; 6:J P[1:P1] 30% FINE ;
7: CALL VSCAMCLB('VSFT1') ; 7: CALL VSFINIT('MOVE_DIST_W',15) ;
8: CALL VSFNDREF(1,'VSFT1') ; 8: CALL VSFINIT('MOVE_DIST_P',15) ;
9: ; 9: CALL VSFINIT('MOVE_DIST_R',15) ;
10:J P[2:P2] 30% FINE ; 10: CALL VSFINIT('DIV_NUM_WP',1) ;
11: CALL VSFNDREF(2,'VSFT1') ; 11: CALL VSFINIT('DIV_NUM_R',1) ;
12: ; 12: CALL VSF_TCP('VSFT1') ;
13:J P[3:P3] 30% FINE ; 13: PAUSE ;
14: CALL VSFNDREF(3,'VSFT1') ; 14: ;
[End] 15:J P[2:P2] 30% FINE ;
16: CALL VSFINIT('MOVE_DIST_WP',0) ;
17: CALL VSF_REF(1,'VSFT1') ;
18: ;
19:J P[3:P3] 30% FINE ;
20: CALL VSFINIT('MOVE_DIST_WP',0) ;
21: CALL VSF_REF(2,'VSFT1') ;
22: ;
23:J P[4:P4] 30% FINE ;
24: CALL VSFINIT('MOVE_DIST_WP',0) ;
25: CALL VSF_REF(3,'VSFT1') ;
[End]

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “12.5.5 Details of TP Programs”.
For 7DC3/10 (V8.30P/10) or later software, if the measurement is interrupted by
the release of the SHIFT key, the occurrence of an alarm or other reasons,
re-execute the TP program after moving the cursor to the first line. If a part of the
measurement has been completed, a message “Press 0 (restart) or 9 (resume)”
appears. Press the 0 key to restart the measurement from the beginning or the 9
key to resume the measurement.

5 Upon completion of program execution, please return to the Vision shift operation screen.
Then, the next screen is displayed.
Pressthe F4 (NEXT) key. The Vision shift screen is displayed

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B-83724EN/02 12.VISION SHIFT

UTILITIES iRCalibration
Vision Shift
Get Reference Points [BEFORE] / Area 1
Ref pos measurement was done

NEXT

If multiple areas are measured, the system asks you whether to measure the reference points of the
next area. Press the F4 (YES) key to continue measurement.

6 Similarly, measure the reference points of all areas.

Upon completion of measurement of the reference points of all areas, “Done” is displayed after Item
4 (“Get ref pos [BEFORE]”) on the Vision shift screen, and Item 5 (“Get ref pos [AFTER]”) is
displayed.

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Done)
5: Get ref pos [AFTER] (Not yet)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

When Item 5 (“Get ref pos [AFTER]”) is displayed, reference point measurement before reinstallation is
completed.

12.3.7 Measuring Reference Points after Reinstallation

Measure the positions of reference points after system reinstallation with the camera.
Measure the reference points by replaying the TP program VSFINDi (i representing an area number from
1 to 5) created and taught before reinstallation.

Procedure 12-7 Measuring reference points after reinstallation

Condition
• "Get ref pos [BEFORE]" must have been completed.
When two or more areas are to be measured, complete "Get ref pos [BEFORE]" for all of the areas.
If "Get ref pos [BEFORE]" has not been completed, "Get ref pos [AFTER]" is not displayed.

Step
1 Select “5: Get ref pos [AFTER]” on the Vision shift screen.

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12.VISION SHIFT B-83724EN/02

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Done)
5: Get ref pos [AFTER] (Not yet)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

2 Press the F4 (NEXT) key on the screen as shown below.

If multiple areas are measured, you enter the number of an area to be measured.

UTILITIES iRCalibration
Vision Shift
Get Reference Points [AFTER] / Area 1
Ref pos measurement will be
started
Please push F4(NEXT) to start
ref pos measurement

NEXT CANCEL

3 The screen display switches to the edit screen, and the program (from VSFIND1 to VSFIND5)
corresponding to the selected area is displayed.
Execute the program from the first line to the last to perform a reference point measurement.

For Stereo measurement method For Visual touch-up method

1: UFRAME_NUM=0 ; 1: UFRAME_NUM=0 ;
2: UTOOL_NUM=9 ; 2: UTOOL_NUM=9 ;
3: ; 3: ;
4: CALL VSINIT ; 4: CALL VSFINIT ;
5: ; 5: ;
6:J P[1:P1] 30% FINE ; 6:J P[1:P1] 30% FINE ;
7: CALL VSCAMCLB('VSFT1') ; 7: CALL VSFINIT('MOVE_DIST_W',15) ;
8: CALL VSFNDREF(1,'VSFT1') ; 8: CALL VSFINIT('MOVE_DIST_P',15) ;
9: ; 9: CALL VSFINIT('MOVE_DIST_R',15) ;
10:J P[2:P2] 30% FINE ; 10: CALL VSFINIT('DIV_NUM_WP',1) ;
11: CALL VSFNDREF(2,'VSFT1') ; 11: CALL VSFINIT('DIV_NUM_R',1) ;
12: ; 12: CALL VSF_TCP('VSFT1') ;
13:J P[3:P3] 30% FINE ; 13: PAUSE ;
14: CALL VSFNDREF(3,'VSFT1') ; 14: ;
[End] 15:J P[2:P2] 30% FINE ;
16: CALL VSFINIT('MOVE_DIST_WP',0) ;
17: CALL VSF_REF(1,'VSFT1') ;
18: ;
19:J P[3:P3] 30% FINE ;
20: CALL VSFINIT('MOVE_DIST_WP',0) ;
21: CALL VSF_REF(2,'VSFT1') ;
22: ;
23:J P[4:P4] 30% FINE ;
24: CALL VSFINIT('MOVE_DIST_WP',0) ;
25: CALL VSF_REF(3,'VSFT1') ;
[End]

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B-83724EN/02 12.VISION SHIFT

NOTE
• If a reference point is not within the field of view of the camera or at the edge of
an image, modify the taught measurement position so that the reference point
can be viewed in the central area of the camera image.

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “12.5.5 Details of TP Programs”.
For 7DC3/10 (V8.30P/10) or later software, if the measurement is interrupted by
the release of the SHIFT key, the occurrence of an alarm or other reasons,
re-execute the TP program after moving the cursor to the first line. If a part of the
measurement has been completed, a message “Press 0 (restart) or 9 (resume)”
appears. Press the 0 key to restart the measurement from the beginning or the 9
key to resume the measurement.

4 Upon completion of reference point measurement, return to the Vision shift operation screen.
Then, the screen below is displayed.
The distances between the reference points before reinstallation and the reference points measured
this time are displayed.
Press F4 (NEXT) . The Vision Shift Processing Selction screen is displayed

UTILITIES iRCalibration
Vision Shift
Get Reference Points [AFTER] / Area 1
Ref pos measurement was done

Distance between BEFORE/AFTER :

1: x 10.53 mm y 6.83 mm z 12.46 mm
2: x 12.87 mm y -7.27 mm z 20.86 mm
3: x 11.43 mm y 2.21 mm z 18.49 mm

NEXT

If multiple areas are measured, the system asks you whether to measure the reference points of the
next area. Press the F1 (YES) key to continue measurement.

5 Measure the reference points of all areas.

Upon completion of measurement of the reference points of all areas, “Done” is displayed in Item 5
(“Get ref pos [AFTER]”).

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12.VISION SHIFT B-83724EN/02

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Done)
5: Get ref pos [AFTER] (Done)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

When “Done” is displayed in Item 5 (“Get ref pos [AFTER]”), reference point measurement after
reinstallation is completed.

12.3.8 Other Operations

On the Vision shift screen, the following operations can be performed in addition to reference point
measurement:
• Checking and changing reference point measurement state (completed/uncompleted)
• Displaying a conversion matrix (reference point measurement result)

Checking measurement state

The state of reference point measurement can be checked.

Procedure 12-8 Checking measurement state

Step
1 Select “6: Status of ref pos” on the processing selection screen of Vision shift.

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Done)
5: Get ref pos [AFTER] (Done)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

2 The screen shown below is displayed to indicate whether reference point measurements before and
after reinstallation are completed or uncompleted for each measurement area.

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B-83724EN/02 12.VISION SHIFT

UTILITIES iRCalibration
Vision Shift
Status of Reference Points
BEFORE AFTER
Area 1 : Done [123] Done [123]
Area 2 : Done [123] Not yet[---]

MODIFY

• In the example above, two areas are measured. The screen shows that the reference points of
area 2 after reinstallation are not measured yet.
• A number in [ ] indicates a reference point already measured. A hyphen in [ ] indicates
a reference point not measured yet. For example, [1--] indicates that point 1 has been
measured but point 2 and point 3 are not measured yet.

3 Press the PREV key. The Vision shift screen is displayed.

Changing measurement state

For safety, reference point measurement cannot be repeated for an area after it has been measured. This
is intended to prevent a measurement from being rewritten inadvertently by making another measurement.

To remeasure reference points, the measurement state of the reference points needs to be set to the
uncompleted state by using this function.

Procedure 12-9 Changing measurement state

Step
1 Press the F5 (MODIFY) key on the reference point measurement state display screen.

UTILITIES iRCalibration
Vision Shift
Status of Reference Points
BEFORE AFTER
Area 1 : Done [123] Done [123]
Area 2 : Done [123] Not yet[---]

MODIFY

2 The bottom of the screen changes as shown below.

Enter a desired area number.

Shift area number :

CANCEL

3 Enter 1 to change the state before reinstallation. Enter 0 to change the state after reinstallation.

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12.VISION SHIFT B-83724EN/02

BEFORE/AFTER (1:BEFORE,0:AFTER):
CANCEL

In the example below, the measurement state of the reference points in area 1 is changed from the
completed state to the uncompleted state so that the reference points can be remeasured.

UTILITIES iRCalibration
Vision Shift
Status of Reference Points
BEFORE AFTER
Area 1 : Done [123] Not yet[123]
Area 2 : Done [123] Not yet[---]

MODIFY

• If the measurement state is changed from “Done (completed)” to “Not yet (uncompleted)”, the
measurement state of each reference point is saved ([123] remains unchanged). If one point is
remeasured in this state then the program is terminated, the measurement state is set to the completed
state again.
• If the measurement state is changed from “Done (completed)” to “Not yet (uncompleted)”, the
measurement state of each reference point is set to the completed state ([123]). When setting
reference point position data before reinstallation directly in position registers by performing an
operation such as an offline shift operation, set the data in the position registers then change the
measurement state before reinstallation from the uncompleted state to the completed state.

CAUTION
The reference points (before reinstallation) can be modified as long as the
workcell has not been reinstalled. If reference points (before reinstallation) are
remeasured after workcell has been reinstalled then the original data is
overwritten and Vision shift is disabled. Never change the measurement state of
reference points (before reinstallation) to the uncompleted state after workcell
reinstallation.
If the measurement state of reference points (before reinstallation) is
inadvertently changed to the uncompleted state after workcell reinstallation,
change the state back to the completed state again. (Even if the state is
changed to the uncompleted state with this function, the reference point
measurement data is not deleted.)

Displaying a conversion matrix

The distances between reference points before reinstallation and reference points after reinstallation, and
the value of a conversion matrix used with program shift operation can be checked.

Procedure 12-10 Displaying a conversion matrix

Step
1 Select “7: Display convert matrix” on the Vision shift screen.

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B-83724EN/02 12.VISION SHIFT

UTILITIES iRCalibration
Vision Shift
1: Check setting data (Done)
2: Vision Setup
3: Test robot program
4: Get ref pos [BEFORE] (Done)
5: Get ref pos [AFTER] (Done)
6: Status of ref pos
7: Display convert matrix
0: Exit

Select operation :
[ TYPE ]DISP_IMG

2 The conversion matrix of each area, and the distances between reference points before reinstallation
and reference points after reinstallation are displayed.

USER
Vision Shift
Display convert matrix
Area 1
X: 150.04 Y: 20.87 Z: 110.20
W: 0.00 P: 0.00 R: 0.00

Distance between BEFORE/AFTER :

1: x 10.53 mm y 6.83 mm z 12.46 mm
2: x 12.87 mm y -7.27 mm z 20.86 mm
3: x 11.43 mm y 2.21 mm z 18.49 mm
Output

Outputting a conversion matrix text file

Pressing the F5 (Output) key outputs the conversion matrix of each area and the distances between
reference points before reinstallation and reference points after reinstallation as a text file to the currently
selected external device (such as a memory card).
The file name is VSFRAME.TXT.

12.3.9 Backing up Data

The initial settings of Vision shift and the robot positions for measurement are stored in the TP programs
indicated below. Moreover, the result of reference point detection is stored in the position registers
specified as “Position Register (Reference points)” in the initial setting screen.

VSMAIN
Common settings used with Vision shift
VSSUB1 to VSSUB5 (as many as the number of measurement areas)
Settings for each measurement area (tool coordinate system, position register numbers for
storing reference point detection positions, and so forth)
VSFIND1 to VSFIND5 (as many as the number of measurement areas)
Teach positions for reference point measurement

Upon completion of measurement before reinstallation, back up, for safety, the programs above and the
data of position registers before reinstalling the robot.
In particular, the reference point position data stored in position registers are important.

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12.VISION SHIFT B-83724EN/02

12.3.10 Offline Shift Operation

The offline shift operation compensates for an installation error between a robot program created with the
offline programming system and the actual position on the factory floor by using Vision shift.

In offline shift operation, reference points before reinstallation are not measured. The positions of
reference points are calculated using the offline programming system. The calculated positions are set
as reference point position data before reinstallation in position registers.

On the factory floor, reference points are set at the same positions as specified with the offline
programming system then the reference points after reinstallation are measured with the camera attached
to the robot.

The steps of “1: Check setting data”, “2: Vision Setup” and “3: Test robot program” remain unchanged in
offline shift operation.
Setting reference point positions
Instead of measuring reference points before reinstallation, the positions of reference points are
determined with the offline programming system according to the procedure below, then the positions are
set in position registers as the detected positions of reference points before reinstallation.

In offline shift operation, reference points to be measured with Vision shift are examined on the offline
programming system.

1 With the offline programming system, determine at which positions those reference points to be
measured are to be set. Three reference points are needed for each area.
Determine those positions on a workpiece or fixture to secure a workpiece that enable reference
points to be set on the factory floor.

2 Calculate the positions of three reference points on the offline programming system. Find the
three-dimensional position (X,Y,Z) of each reference point when viewed from the base coordinate
system of the robot. The three-dimensional positions of three reference points are represented as
P1(X1, Y1, Z1), P2(X2, Y2, Z2), and P3(X3, Y3, Z3).

3 Set the found positions of the three reference points, P1, P2, and P3, in three position registers for
storing the positions of reference points before reinstallation.
In a position register, three of the six components, X, Y, Z, W, P, and R, can be entered. In X, Y,
and Z, set the calculated values of Pi(Xi, Yi, Zi) (i = 1 to 3). In W, P, and R, enter an arbitrary
value (for example, 0). (The values of W, P, and R of a position register have no effect on program
shift operation.)

Changing measurement state

To perform an offline shift operation, set the reference point position data in the position registers, then
change the measurement state of reference points before reinstallation to “Done” on the reference point
measurement state screen. Next, measure the reference points after reinstallation.

1 Set the positions of reference points in position registers then select “6: Status of ref pos” on the
Vision shift screen.
2 Press the F5 (MODIFY) key.
3 Set a desired area number (from 1 to 5) (only when multiple areas are used).
4 Enter 1: BEFORE in “BEFORE/AFTER” prompt.
5 Check that the measurement state of reference points before reinstallation is set to “Done”.
6 If multiple areas are used, set the measurement state before reinstallation for each area to “Done”.
7 Press PREV to return to the processing selection screen.

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B-83724EN/02 12.VISION SHIFT
8 Select “5: Get ref pos [AFTER]” on the Vision shift processing selection screen, and perform Vision
shift measurement.

12.4 PROGRAM SHIFT (ONLINE SHIFT FUNCTION)

This section describes the operation of the online shift function to shift the taught positions of a robot
program according to the measurement result using Vision shift.

Online shift
Two types of online shift functions are available:
• Three-point shift function
• One-point shift function
The three-point shift function shifts the taught positions of a program before reinstallation (or a program
created offline) according to the actual condition on the factory floor by using the position data of three
reference points measured using Vision shift.

After performing a three-point shift operation, execute the program then check the position of each taught
point. Make a fine position adjustment if necessary.

At this time, a fine teach position adjustment can be made in a shorter time by using the one-point shift
function.

When the position of a taught point is modified after moving the robot manually to the taught point, the
one-point shift function can reflect the amount of modification at the taught point in other taught points of
the program as well, thus modifying multiple taught points at a time.

By combining the three-point shift function and one-point shift function, programmed taught positions
could be modified in a short time by a simple operation.

With the online three-point shift function and one-point shift function:
• A shift range can be specified on the program edit screen.
• An error that has occurred during shift operation can be checked later.
• A shift operation can be canceled.

12.4.1 Specifying a Program for Shift Operation

The online shift function shifts the currently selected program.
For either one-point shift operation or three-point shift operation, select a program to be shifted on the
program list screen of the teach pendant beforehand.

NOTE
Be sure to select a program to be shifted, from the program list.
When a subprogram is being called, the subprogram cannot be shifted with the online
shift function.
To shift a subprogram, select the subprogram from the program list beforehand.

12.4.2 Three-Point Shift Operation

Three-point shift function
The three-point shift function shifts a program by using the positions of three reference points measured
with Vision shift.

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12.VISION SHIFT B-83724EN/02

This function compensates for an installation position error between before and after system reinstallation,
and also compensates for an installation position error between the offline programming system and the
actual positions on the factory floor.

Shift operations based on reinstallation calculates an installation position error. The position error is
between the offline object (before reinstallation) and the real workcell object (after the reinstallation).

The error is used to shift the taught positions of the robot program to match the state after reinstallation.

Three-point shift operation

Procedure 12-11 Performing a three-point shift operation
Step
1 Press F5 [EDCMD] on the second page of the edit screen.
Select “Online sft” from the menu.

TEST01
1/7
1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

POINT TOUCHUP>

[ INST ] [EDCMD]>

2 The online shift setting screen shown below is displayed.

Select “3PT SFT” (Three point shift) in “1 Shift Type” by pressing
F5 (3PT SFT), then press F1 (START) .

User
Online Shift 1/34
1 Shift Type 3PT SFT
2 Shift result auto output ENABLE
1 point shift setup
3 Shift data POS_ORI
3 point shift setup
4 Number of shift area 2
Area1 [Source]
5 Ref pos 1 PR[ 50]
6 Ref pos 2 PR[ 51]
7 Ref pos 3 PR[ 52]
Area1 [Destination]
8 Ref pos 1 PR[ 53]
9 Ref pos 2 PR[ 54]
10 Ref pos 3 PR[ 55]
START 1PT SFT 3PT SFT

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B-83724EN/02 12.VISION SHIFT

• For the number of areas and position register numbers used for three-point shift operation, the
settings made on the initial setting screen of Vision shift are automatically reflected. This
means that no particular setting is needed.

3 The second page of the edit screen displays the F2 through F4 keys for online shift operation.
Press F4 (3PT SFT).

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

[ INST ] CANCEL RSLT 3PT SFT [EDCMD]>

The F2 through F4 keys change as shown below, and a message is displayed.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR END CONV [EDCMD]>

4 Specify a shift start line.

Move the cursor to a desired shift start line then press F2 (STR) .

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR 4 END CONV [EDCMD]>

The specified shift start line is displayed after "STR" of the F2 key.

5 Next, specify a shift end line.

Move the cursor to a desired shift end line then press F3 (END) .

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12.VISION SHIFT B-83724EN/02

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR 4 END 6 CONV [EDCMD]>

The specified end line is displayed after "END" of the F3 key.

6 Press the F4 (CONV) key. The program is shifted.

If multiple areas are to be shifted, the system asks you about an area to be shifted. Enter a desired
area number.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR 4 END 6 CONV [EDCMD]>

7 Upon completion of conversion, the F2 through F4 keys disappear, and a message indicating that
program shift operation is completed is displayed together with the number of errors that occurred
during conversion.
Check whether errors occurred.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Program shift was done(Err 0)

[ INST ] [EDCMD]>

• To stop using the online shift function, press the [PREV] key. The F2 through F4 keys for online
shift operation disappear.
• To check the details of errors that occurred during conversion, see Subsection 12.4.4, "Checking the
Result of Shift Operation".

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B-83724EN/02 12.VISION SHIFT

NOTE
If an online shift operation is performed once by pressing F4 (CONV), the F2
through F4 keys for online shift operation disappear.
To perform an online shift operation again, pressthe F5 [EDCMD] key, then
select “Online sft”.

12.4.3 One-Point Shift Operation

One-point shift function
An on point shift function uses the recorded position (before reinitialization) and the user-adjusted
position. The user-adjusted positions obtained by jogging the robot to the correct position; the difference
between the two positions is the shift amount.
This same shift amount can be applied to a range of positions, thus modifying multiple teach points at a
time.
A shift range can be specified on the program edit screen.
The one-point shift function shifts the teach points in a range specified in the program by using, as a shift
amount, the differential between the recorded teach position (where the cursor is placed) and the current
position/posture of the robot at shift start time.
A shift amount is relative to the base coordinate system, world, of the robot. When multiple points are
shifted, each point is shifted in the same direction in the base coordinate system.
There are three options for the shift data:
• Shift in position and posture.
• Shift in position only.
• Shift in posture only.
Usually, shift in position and posture is used.

One-point shift operation

The one-point shift function shifts a program by using, as a shift amount, the differential between the
teach position on the line where the cursor is placed and the current position/posture of the robot when the
F4 (1PT SFT) key is pressed to start a shift operation.
The method of specifying a shift range and the method of conversion are the same as for the three-point
shift operation.

NOTE
In a one-point shift operation, a shift amount is determined from the differential
between the current robot position and the teach position (on the line where the
cursor is placed at shift start time).
If a position modification is made at a teach position to be modified, the current
position and the teach position match each other, so that the differential
becomes 0, disabling the shift operation.

Procedure 12-12 Performing a one-point shift operation

Step
1 Press the F5 [EDCMD] key on the second page of the edit screen.
Select “Online sft” from the menu.

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12.VISION SHIFT B-83724EN/02

TEST01
1/7
1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

POINT TOUCHUP>

[ INST ] [EDCMD]>

2 The online shift setting screen as shown below is displayed.

Select “1PT SFT” in “1 Shift Type” by pressing F4 (1PT SFT) .
Select “POS ORI” in “3 Shift data”. However, select “POS” when the posture of the teach position
data is not to be modified.

User
Online Shift 1/34
1 Shift Type 1PT SFT
2 Shift result auto output ENABLE
1 point shift setup
3 Shift data POS_ORI
3 point shift setup
4 Number of shift area 2
Area1 [Source]
5 Ref pos 1 PR[ 50]
6 Ref pos 2 PR[ 51]
7 Ref pos 3 PR[ 52]
Area1 [Destination]
8 Ref pos 1 PR[ 53]
9 Ref pos 2 PR[ 54]
10 Ref pos 3 PR[ 55]
START 1PT SFT 3PT SFT

3 After confirming the settings above, press the F1 (START) key.

The second page of the edit screen displays the F2 through F4 keys for the online shift operation.
By using the F2 through F4 keys, an online shift operation can be performed.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

[ INST ] CANCEL RSLT 1PT SFT [EDCMD]>

4 Move the robot in step mode to the line where a teach position is to be modified. In this example,
the robot is moved to the line 4 specifying the position P[2].
5 Move the current robot position manually to the position to be modified.
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B-83724EN/02 12.VISION SHIFT
6 Press the F4 (1PT SFT) key
When the F4 key is pressed, the differential between the teach position and the current robot position
is automatically recorded as a shift amount.

NOTE
In a one-point shift operation, a shift amount is determined from the difference
between the current robot position and the teach position (on the line where the
cursor is placed when the F4 key (1PT SFT) is pressed). Do not make a
position modification before pressing the F4 key (1PT SFT).
Otherwise, the current position and the teach position match each other, so that
the differential becomes 0, disabling the shift operation.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

[ INST ] CANCEL RSLT 1PT SFT [EDCMD]>

The F2 through F4 keys change as shown below, and a message is displayed.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR END CONV [EDCMD]>

7 Specify a shift start line. Move the cursor to a desired shift start line then press the F2 (STR)
key.
The specified shift start line is displayed after the "STR" text above of the F2 key.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR 4 END CONV [EDCMD]>

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12.VISION SHIFT B-83724EN/02

8 Next, specify a shift end line. Move the cursor to a desired shift end line then press the F3 (END)
key.
The specified shift end line is displayed after the "END" text above the F3 key.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Specify start/end line and do convert

[ INST ] STR 4 END 6 CONV [EDCMD]>

9 Press the F4 (CONV) key. The program is shifted.

10 Upon completion of conversion, the F2 through F4 keys disappear, and a message indicating that
program shift operation is completed is displayed together with the number of errors that occurred
during conversion.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

Program shift was done(Err 0)

[ INST ] [EDCMD]>

If an online shift operation is performed once, the F2 through F4 keys for online shift operation disappear.
To perform an online shift operation again, press the F5 key ([EDCMD]) then select “Online sft”.

To stop using the online shift function, press the [PREV] key. The F2 through F4 keys for online shift
operation disappear.

To check the details of errors that occurred during conversion, see Subsection 12.4.4, "Checking the
Result of Shift Operation".

12.4.4 Checking the Result of Shift Operation

Checking the detailed result of shift operation
Upon completion of conversion in either a three-point shift operation or a one-point shift operation, a
message indicating that the program shift operation is completed is displayed together with the number of
errors that occurred during conversion.
Details of errors that occurred during conversion can be checked using the procedure below.

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B-83724EN/02 12.VISION SHIFT

Procedure 12-13 Checking the detailed result of shift operation

Step
1 Press the F5[EDCMD] key on the second page of the edit screen. Select “Online sft” from the menu.
2 Press the F1 (START) key.
3 Press the F3 (RSLT) key.

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

[ INST ] CANCEL RSLT 1PT SFT [EDCMD]>

Conversion information and details of errors that occurred during conversion are displayed.
If one page cannot display all errors that occurred during conversion, F4 displays "NextPage".
Press F4 to display details of errors that cannot be displayed on the first page.

USER
Online Shift

Shift Result
Program : TEST01
Lines : 4 – 6
Error occurred at following points
6 P[4] Position is not reachable

Outputting the result of shift operation

Press the F5 (Output) key to output the result of shift operation as a text file to an external device. The
file name is program-name.TXT. (In this example, the file name is PNS0001.TXT.)
If the online shift setting enables automatic output of the result of shift operation, the result of shift
operation is automatically output as a text file to an external device each time conversion is performed.

12.4.5 Canceling a Shift Operation

The last shift operation can be canceled.
The program returns to the state immediately before the last shift operation.

Procedure 12-14 Canceling the last shift operation

Step
1 Press the F5[EDCMD] key on the second page of the edit screen.
Select “Online sft” from the menu.
2 Press the F1 (START) key.
3 Press the F2 (CANCEL) key.

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12.VISION SHIFT B-83724EN/02

TEST01

1: R[1]=0
2: J P[1] 80% FINE
3: WAIT DI[1]=ON
4: L P[2] 1000mm/sec CNT100
5: L P[3] 800mm/sec FINE
6: L P[4] 500mm/sec FINE
[End]

[ INST ] CANCEL RSLT 1PT SFT [EDCMD]>

The shift cancellation confirmation screen is displayed.

4 Pressing the F1 (Yes) key returns the program to the state immediately before the last shift
operation.

USER
Online Shift
Cancel prev shift
Program : TEST01
Recover program just before
previous shift

All modification will be lost

from previous shift

Cancel previous shift ?

Yes No

CAUTION
1. If the last shift operation is canceled using this function, the program returns to
the state immediately before the last shift operation. Note that all modifications
made after the last shift operation are lost.
2. This function can cancel only the last shift operation performed.

12.5 SPECIFICATIONS OF TP PROGRAMS FOR VISION SHIFT

This section describes the contents and specifications of the robot TP programs used with Vision shift.
By using the offline programming system, camera installation position and direction data and the results
of examining the measurement positions and postures of reference points beforehand can be read as TP
programs into the robot.

12.5.1 Outline of TP Programs Used for Vision Shift

Vision shift measures the positions of reference points by using the following TP programs:
VSMAIN: Program for setting common data
VSSUB1-5: Program for setting area data (areas 1 to 5)
VSFIND1-5: Program for measuring the positions of reference points (areas 1 to 5)

VSMAIN, VSSUB
VSMAIN and VSSUB1 through VSSUB5 are used to save the settings made on the initial setting screen
of Vision shift. In VSMAIN and VSSUB1 through VSSUB5, settings are taught as comment
statements.
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B-83724EN/02 12.VISION SHIFT
Vision shift reads VSMAIN and VSSUB1 through VSSUB5, if present at initial setting time, and sets the
data specified by VSMAIN and VSSUB1 through VSSUB5 in the controller.
If settings are modified on the initial setting screen of Vision shift, VSMAIN and VSSUB1 through
VSSUB5 are updated according to the modified data. The Vision shift settings on one controller can be
set on another controller by copying VSMAIN and VSSUB1 through VSSUB5.

VSFIND
VSFIND1 through VSFIND5 are used for Camera position calibration and vision measurement of
reference points.
VSFIND1 through VSFIND5 call the following subprograms:

Table 12.5.1 Subprogram called in TP program

Stereo measurement method Visual touch-up method
Subprogram for initial setting VSINIT VSFINIT
Subprogram for camera position calibration VSCAMCLB VSF_TCP
Subprogram for measuring reference points VSFNDREF VSF_REF

The KAREL subprograms above are installed on the robot controller if the Vision shift option is
specified.
The TP programs and KAREL subprograms above use a tool coordinate system, register, and position
registers. A tool coordinate system number, register number, and position register numbers can be
specified using all of VSMAIN and VSSUB1 through VSSUB5. These settings can be checked or
modified on the initial setting screen of Vision shift.

12.5.2 Sample TP Program

The TP program VSFIND0 and VSFINDA are sample programs for vision measurement. VSFIND0 is
sample for Stereo measurement method and VSFINDA is for Visual touch-up method.
The sample program can be used as a template for TP programs.

12.5.3 Relationship between Vision Shift and TP Programs

If TP programs such as VSMAIN and VSSUB1 through VSSUB5 are available, the values specified by
those TP programs are read and displayed on the initial setting screen of Vision shift as shown on the next
page.
If VSMAIN and VSSUB1 through VSSUB5 are unavailable, the default values are displayed.

If modifications are made to settings on the initial setting screen, the modifications are reflected in
VSMAIN and VSSUB1 through VSSUB5.

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12.VISION SHIFT B-83724EN/02

USER
Vision Shift
1: Check setting data (Done)
2: Test robot program
3: Get ref pos [BEFORE] (Not yet)

5: Status of ref pos

6: Display convert matrix
0: Exit Read parameters from VSMAIN
and VSSUB1～5
Select operation:

VSMAIN
Enter “1”
Setting data 1: !UTN1 UT(Calib) No. : 8
2: !UTN2 UT(Camera) No. : 9
Vision Shift 3: !REGN Reg(Result of oprt) : 50
4: !PRGN PReg(Work area) : 100
Setting Data : Area 1 1/18
5: !ANUM Num of shift area : 1
Tool Frame [End]
1 Result of calibration 8
2 Camera position 9 VSSUB1～5
Register (Result of operation) R[ 50]
Pos register (work area) PR[ 100]
Number of shift area 1 1: !UT2X UT(Camera) X : 1300.000
2: !UT2Y UT(Camera) Y : 200.000
Camera position(TOOL) 3: !UT2Z UT(Camera) Z : -130.000
6 Camera position X = 1300.000 4: !UT2W UT(Camera) W : 0.000
7 Camera position Y = 200.000 5: !UT2P UT(Camera) P : 0.000
8 Camera position Z = -130.000
9 Camera position W = 0.000 6: !UT2R UT(Camera) R : 0.000
10 Camera position P = 0.000 7: !STDR Stereo move dir(UT) : W
11 Camera position R = 0.000 8: !PRB1 Bef Ref pt 1 : 50
9: !PRB2 Bef Ref pt 2 : 51
Stereo move direction (Tool) W 10: !PRB3 Bef Ref pt 3 : 52
Position Register (Reference points) 11: !PRA1 Aft Ref pt 1 : 53
Before 12: !PRA2 Aft Ref pt 2 : 54
13 Reference point 1 PR[ 50] 13: !PRA3 Aft Ref pt 3 : 55
14 Reference point 2 PR[ 51] [End]
15 Reference point 3 PR[ 52]
After
16 Reference point 1 PR[ 53]
17 Reference point 2 PR[ 54]
18 Reference point 3 PR[ 55] When F5,[Modify] is pressed, current value is
saved in VSMAIN and VSSUB1-5
EXIT AREA MODIFY

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B-83724EN/02 12.VISION SHIFT

12.5.4 List of Data Used for Vision Shift

The table below indicates the tool coordinate systems, register, and position registers used with Vision
shift.

Data used with Vision shift

Data Q'ty Purpose Remarks
Stores the result of Camera position calibration.
Tool Frame 2
Sets the position of the camera.
-1 Waiting for vision processing
0 No vision detection (number of
Register 1 Stores vision status. detections = 0)
1 Vision detection successful
(number of detection = 1)
Position register 1 Used by each operation (work register)
Reference point 1
detection position
Before
Reference point 2
reinstal-
detection position
lation
Reference point 3
detection position
6 Area 1
Reference point 1
detection position
After
Reference point 2
reinstal-
detection position
lation
Reference point 3
detection position
Reference point 1
detection position
Position register Before
Reference point 2
(storing detection reinstal-
detection position
positions) lation
Reference point 3
detection position
Position registers 6 Area 2
Reference point 1
as many as [6 ×
detection position
(number of After
measurement Reference point 2
reinstal-
areas)] are used. detection position
lation
Reference point 3
detection position
Reference point 1
detection position
Before
Reference point 2
reinstal-
detection position
lation
Reference point 3
detection position
6 Area 3
Reference point 1
detection position
After
Reference point 2
reinstal-
detection position
lation
Reference point 3
detection position

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12.VISION SHIFT B-83724EN/02

Data Q'ty Purpose Remarks

Reference point 1
detection position
Before
Reference point 2
reinstal-
detection position
lation
Reference point 3
detection position
6 Area 4
Reference point 1
detection position
Position register After
Reference point 2
(storing detection reinstal-
detection position
positions) lation
Reference point 3
detection position
Position registers
Reference point 1
as many as [6 ×
detection position
(number of Before
measurement Reference point 2
reinstal-
areas)] are used. detection position
lation
Reference point 3
detection position
6 Area 5
Reference point 1
detection position
After
Reference point 2
reinstal-
detection position
lation
Reference point 3
detection position

12.5.5 Details of TP Programs

VSMAIN/VSSUBi (i=1 to 5)
These programs are used to reflect the settings for Vision shift operation in the controller. These
programs are also used to copy the setting for Vision shift operation on one controller to another
controller.
In VSMAIN, data common to all Vision shift areas is set.
In VSSUB1 through VSSUB5, data for each measurement area is set.
All lines consist of comment statements for setting the data. So, execution of a single program has no
effect.

VSMAIN
1: !UTN1 UT(Calib) No. : 8
2: !UTN2 UT(Camera) No. : 9
3: !REGN Reg(Result of oprt) : 50
4: !PRGN PReg(Work area) : 100
5: !ANUM Num of shift area : 1
[End]

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B-83724EN/02 12.VISION SHIFT
VSSUB1 through VSSUB5

1: !UT2X UT(Camera) X : 1300.000

2: !UT2Y UT(Camera) Y : 200.000
3: !UT2Z UT(Camera) Z : -130.000
4: !UT2W UT(Camera) W : 0.000
5: !UT2P UT(Camera) P : 0.000
6: !UT2R UT(Camera) R : 0.000
7: !STDR Stereo move dir(UT) : W
8: !PRB1 Bef Ref pt 1 : 50
9: !PRB2 Bef Ref pt 2 : 51
10: !PRB3 Bef Ref pt 3 : 52
11: !PRA1 Aft Ref pt 1 : 53
12: !PRA2 Aft Ref pt 2 : 54
13: !PRA3 Aft Ref pt 3 : 55
[End]

The first four characters after the “!” are used to determine the meaning of the data.
The portion from the fifth character to the ":" is ignored when Vision shift reads the data. Do not
include ":" in this portion.
Do not change the order of the data. The meaning of the data is judged by the order of teaching.
Create VSSUBi (i = 1 to 5) programs as many as the number of areas to be measured. Specify the
position register numbers to store the positions of reference points for an area in the corresponding
VSSUB* program. If the same position register number is specified for multiple areas, an error is
indicated on the processing selection screen of Vision shift.
If a value in VSMAIN/VSSUB1 through VSSUB5 is directly modified after the initial setting using
Vision shift, a mismatch occurs between the data set with Vision shift and the data set in
VSMAIN/VSSUB1 through VSSUB5.
After the initial setting, do not directly modify any value in VSMAIN and VSSUB1 through
VSSUB5. When a modification is required, make the modification on the initial setting screen of Vision
shift.

VSFINDi (i=1 to 5)
VSFIND1 through VSFIND5 are TP programs used to teach the motion positions of the robot performing
camera attachment position calibration and measuring the positions of reference points.
You need to create VSFINDi .

VSFINDi format
As indicated in the example below, teach three positions that enable reference points to be viewed in the
central area of an image then call VSCAMCLB or VSF_TCP and VSFNDREF or VSF_REF at those
positions.
Any other operation sequences can be set. An original point and intermediate point can be added.

• For Stereo measurement method:

(1) Call VSINIT at the start of the program for initialization.
(2) Call VSCAMCLB at the first reference point.
(3) Call VSFNDREF at the remaining reference points.

• For Visual touch-up method:

(1) Call VSFINIT at the start of the program for initialization.
(2) Call VSF_TCP at the first reference point.
(3) Call VSF_REF at the remaining reference points.

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12.VISION SHIFT B-83724EN/02

For Stereo measurement method For Visual touch-up method

1: UFRAME_NUM=0 ; 1: UFRAME_NUM=0 ;
2: UTOOL_NUM=9 ; 2: UTOOL_NUM=9 ;
3: ; 3: ;
4: CALL VSINIT ; (1) 4: CALL VSFINIT ;
5: ; 5: ;
6:J P[1:P1] 30% FINE ; 6:J P[1:P1] 30% FINE ;
7: CALL VSCAMCLB('VSFT1') ; 7: CALL VSFINIT('MOVE_DIST_W',15) ;
8: CALL VSFNDREF(1,'VSFT1') ; 8: CALL VSFINIT('MOVE_DIST_P',15) ;
9: ; (2) 9: CALL VSFINIT('MOVE_DIST_R',15) ;
10:J P[2:P2] 30% FINE ; 10: CALL VSFINIT('DIV_NUM_WP',1) ;
11: CALL VSFNDREF(2,'VSFT1') ; 11: CALL VSFINIT('DIV_NUM_R',1) ;
12: ; 12: CALL VSF_TCP('VSFT1') ;
13:J P[3:P3] 30% FINE ; 13: PAUSE ;
14: CALL VSFNDREF(3,'VSFT1') ; 14: ;
[End] (3) 15:J P[2:P2] 30% FINE ;
16: CALL VSFINIT('MOVE_DIST_WP',0) ;
17: CALL VSF_REF(1,'VSFT1') ;
18: ;
19:J P[3:P3] 30% FINE ;
20: CALL VSFINIT('MOVE_DIST_WP',0) ;
21: CALL VSF_REF(2,'VSFT1') ;
22: ;
23:J P[4:P4] 30% FINE ;
24: CALL VSFINIT('MOVE_DIST_WP',0) ;
25: CALL VSF_REF(3,'VSFT1') ;
[End]

For 7DC3/10 (V8.30P/10) or later software, call instructions of the program VCRSM_CHECK, label
instructions, and jump instructions are added to the sample program in “12.3.5 Creating and Testing
Programs for Vision Shift Measurement” as below so that efficient resuming of the measurement can be
done.

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For Stereo measurement method For Visual touch-up method

1: !------------------------------- ; 1: !------------------------------- ;
2: !VSFIND sample for Vision Shift ; 2: !VSFIND sample for Vision Shift ;
3: !------------------------------- ; 3: !------------------------------- ;
4: CALL VCRSM_CHECK('START') ; 4: CALL VCRSM_CHECK('START') ;
5: UFRAME_NUM=0 ; 5: UFRAME_NUM=0 ;
6: UTOOL_NUM=9 ; 6: UTOOL_NUM=9 ;
7: ; 7: ;
8: IF $VCRSM_CFG.$STEP_NUM>=2, 8: IF $VCRSM_CFG.$STEP_NUM>=2,
JMP LBL[2] ; JMP LBL[2] ;
9: CALL VCRSM_CHECK(1) ; (1) 9: CALL VCRSM_CHECK(1) ;
10: CALL VSINIT ; 10: CALL VSFINIT ;
11: ; 11: ;
12:J P[1:P1] 30% FINE ; 12:J P[1:P1] 30% FINE ;
13: CALL VSCAMCLB('VSFT1') ; 13: CALL VSFINIT('MOVE_DIST_W',15) ;
14: ; (2) 14: CALL VSFINIT('MOVE_DIST_P',15) ;
15: LBL[2] ; 15: CALL VSFINIT('MOVE_DIST_R',15) ;
16: IF $VCRSM_CFG.$STEP_NUM>=3, 16: CALL VSFINIT('DIV_NUM_WP',1) ;
JMP LBL[3] ; 17: CALL VSFINIT('DIV_NUM_R',1) ;
17: CALL VCRSM_CHECK(2,1) ; 18: CALL VSF_TCP('VSFT1') ;
18: CALL VSFNDREF(1,'VSFT1') ; 19: PAUSE ;
19: ; 20: ;
20:J P[2:P2] 30% FINE ; 21:J P[2:P2] 30% FINE ;
21: LBL[3] ; 22: LBL[2] ;
22: IF $VCRSM_CFG.$STEP_NUM>=4, (3) 23: IF $VCRSM_CFG.$STEP_NUM>=3,
JMP LBL[4] ; JMP LBL[3] ;
23: CALL VCRSM_CHECK(3,1) ; 24: CALL VCRSM_CHECK(2,1) ;
24: CALL VSFNDREF(2,'VSFT1') ; 25: CALL VSFINIT('MOVE_DIST_WP',0) ;
25: ; 26: CALL VSF_REF(1,'VSFT1') ;
26:J P[3:P3] 30% FINE ; 27: ;
27: LBL[4] ; 28:J P[3:P3] 30% FINE ;
28: CALL VCRSM_CHECK(4,1) ; 29: LBL[3] ;
29: CALL VSFNDREF(3,'VSFT1') ; 30: IF $VCRSM_CFG.$STEP_NUM>=4,
30: ; JMP LBL[4] ;
31: CALL VCRSM_CHECK('END') ; 31: CALL VCRSM_CHECK(3,1) ;
[End] 32: CALL VSFINIT('MOVE_DIST_WP',0) ;
33: CALL VSF_REF(2,'VSFT1') ;
34: ;
35:J P[4:P4] 30% FINE ;
36: LBL[4] ;
37: CALL VCRSM_CHECK(4,1) ;
38: CALL VSFINIT('MOVE_DIST_WP',0) ;
39: CALL VSF_REF(3,'VSFT1') ;
40: ;
41: CALL VCRSM_CHECK('END') ;
[End]

Operation for VSFINDi execution

When calling VSCAMCLB or VSF_TCP, specify a vision data name (model name) in an argument.
When VSCAMCLB or VSF_TCP is called, camera position calibration is performed. The result of
calibration is stored (set) in the tool coordinate system specified by the initial setting.
When calling VSFNDREF or VSF_REF, specify reference point numbers and a vision data name (model
name). When VSFNDREF or VSF_REF is called, the positions of reference points are measured by the
Stereo measurement method or Visual touch-up method by using the result of calibration based on
VSCAMCLB or VSF_TCP. The measured positions of reference points are stored in the position
registers specified by the initial setting.

NOTE
Be sure to execute VSFINDi (i = 1 to 5) on the Vision shift screen. No vision
measurement is taken if VSFINDi (i = 1 to 5) is executed on the program list
screen.

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12.5.6 Subprograms Called from VSFINDi

This section describes the following three subprograms called from VSFIND1 through VSFIND5:
• VSINIT
• VSCAMCLB
• VSFNDREF
• VSFINIT
• VSF_TCP
• VSF_REF
• VCRSM_CHECK (for 7DC3/10 (V8.30P/10) or later software)
These subprograms are KAREL programs, so that their contents cannot be viewed on the teach pendant.

VSINIT
VSINIT is the subprogram that makes settings required for Vision shift by using the data specified on the
initial setting screen.

Usage
VSFINDi must always call this subprogram at the start of the program.
When this subprogram is called, no argument is used.

CALL VSINIT

Operation
VSINIT has the following settings that perform calibration and make measurements with Vision shift:
• It sets the number of the selected user coordinate system to 0.
• It sets the values specified on the initial setting screen in the tool coordinate system for camera
position setting.

VSCAMCLB
VSCAMCLB is the subprogram that performs Camera position calibration.

Usage
VSFINDi (i = 1 to 5) calls this subprogram at a position that enables the first reference point to be viewed
from the camera.
When calling this subprogram, specify the following argument:

Argument 1: Specify a vision data name (model name) by using a character string.

CALL VSCAMCLB(‘VSFT1’)

Argument 1

Operation
When VSCAMCLB is called, the robot moves ± 50 mm in the Z-axis direction from the current position
in the tool coordinate system then rotates ±30° about the Z-axis in the tool coordinate system to perform
Camera position calibration. The result of Camera position calibration is stored (set) in “Tool
Frame/Result of Calibration” specified by initial setting.

VSFNDREF
VSFNDREF is the subprogram that measures the positions of reference points.

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VSFINDi (i= 1 to 5) teaches operation statements (for three points) to enable the reference points to be
viewed. At each of the three points, call this subprogram.

Usage
When calling this subprogram, specify the following arguments:

Argument 1: Specify the number (1 to 3) of the reference point among the three reference points.
Argument 2: Specify a vision data name (model name) by using a character string.
Argument 3: (Optional) Specify the direction of inclination by using a character ('W'/'P').
If this argument is not specified, the direction specified by the initial setting is used.
Argument 1

Argument 2

CALL VSFNDREF(1, ’VSFT1’)

Below is an example where the direction of inclination is specified in argument 3:

CALL VSFNDREF(1,’VSFT1’,’P’)

Operation
When VSFNDREF is called, an inclination of ±15° is made in the direction specified by initial setting to
measure the position of a reference point by Stereo measurement method.
The measured reference position is stored in a position register.

VSFINIT
VSFINIT initializes data setting for the Visual touch-up method.

Usage
VSFINDi should call this subprogram without an argument at the beginning of the program.

CALL VSFINIT

When calling this subprogram, specify the following arguments:

Argument 1: Specify the name of the parameter,

Argument 2: Specify the value of the parameter

Argument 1 Argument 2

CALL VSFINIT('MOVE_DIST_R’, 90)

Operation
VSFINIT without an argument does the following:
• It sets the user coordinate system to 0.
• It sets the initial values for camera position
VSFINIT with arguments is used to set parameters for camera position calibration. For camera position
calibration, it is possible to improve the accuracy of the calibration by increasing tilt angle and division
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number relative to the optical axis of the camera. The relevant parameters are shown below. For example,
if MOVE_DIST_R is set to 90 deg and DIV_NUM_R is set to 3, vision measurements are executed with
the rotation angle about the optical axis of the camera -90, -60, -30, 0, +30, +60 and +90 deg.

Table12.5.6 Parameters set by VSFINIT

Parameter Explanation Default value Recommended value if
there is wide work area
MOVE_DIST_R Rotation angle about the 15 deg 60 ~ 90 deg
optical axis of the camera
DIV_NUM_R Division number for 1 2~3
rotating about the optical
axis of the camera
MOVE_DIST_W Tilt angle 1 relative to the 15 deg 35 ~ 45 deg
optical axis of the camera
MOVE_DIST_P Tilt angle 2 relative to the 15 deg 35 ~ 45 deg
optical axis of the camera
DIV_NUM_WP Division number for tilting 1 2~4
relative to the optical axis
of the camera

VSF_TCP
VSF_TCP performs camera position calibration for the Visual touch-up method.

Usage
VSFINDi (i = 1 to 5) calls this subprogram to find a target’s position.
When calling this subprogram, specify the following argument:

Argument 1: Specify a vision data name (model name) by using a character string.

CALL VSF_TCP(‘VSFT1’)

Argument 1

Operation
When VSF_TCP is called, the robot performs the following:
1 Moves to a position so the target is at the center of the image.
2 Moves up and down along the optical axis of the camera.
3 Rotates around the optical axis of the camera.
4 Tilts relative to the optical axis.
5 Store camera position calibration result in “Tool Frame/Result of Calibration” specified by the initial
setting.

During step 2 through 4, robot moves around the target and keeps the target at the center of the camera’s
image.

VSF_REF
Visual touch-up method uses VSF_REF to measure the reference positions.

Usage
When calling this subprogram, specify the following arguments:

Argument 1: Specify the reference point number (1 to 3) .

Argument 2 Specify the vision data name (model name)
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Argument 1 Argument 2

CALL VSF_REF(1, ’VSFT1’)

Operation
VSF_REF does a small movement to take a measurement of a reference point
The measured position of a reference point is stored in a position register specified by initial setting.

VCRSM_CHECK
VCRSM_CHECK is the subprogram related to the resuming of the measurement.
This subprogram is for 7DC3/10 (V8.30P/10) or later software. For 7DC3/10 (V8.30P/10) or later
software, the measurement is divided into some steps, and this subprogram controls the step number of
the measurement.

Usage
When calling this subprogram, specify the following arguments:

Argument 1: Specify ‘START’, ‘END’, or the step number.

Argument 2: (Optional) Specify the robot group number (1).

Argument 1 Argument 2

CALL VCRSM_CHECK(2, 1)

Operation
• If the argument 1 is ‘START’, the step number is checked, and you can choose whether to restart
from the beginning or to resume when this subprogram is called after the measurement interruption.
• If the argument 1 is ‘END’, the step number is reset.
• If the argument 1 is the step number, the step number is updated. If the argument 2 is the robot group
number, the robot with the specified group number records the position when the measurement is
executed in order, and returns back to the recorded position when the measurement is resumed.

12.6 TROUBLESHOOTING
General
Symptom
The program list screen does not display the names of the KAREL subprograms (VSINIT, VSCAMCLB
and VSFNDREF, or VSFINIT, VSF_TCP and VSF_REF).

Action
Set the system variable $KAREL_ENB to 1 on the system variable screen then select "All" in F1 [TYPE]
on the program list screen.

Initial setting confirmation

Symptom
A warning indicating the presence of a duplicate position register is displayed as follows:
”Duplicate PReg: xx"

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Action
The position register number is already used. Change the position register number to make it unique.

Reference point measurement

Symptom
When VSINIT, VSCAMCLB, VSFNDREF, VSFINIT, VSF_TCP, or VSF_REF is called during
execution of VSFINDi, the alarm “Uninitialized data” is issued.

Action
Execute VSFINDi on the processing selection screen of Vision shift. The alarm above is issued if
VSFINDi is directly selected on the TP program list screen and executed.

Symptom
“CVIS-021 Exceed VisPool” occurs.

Action
It is no problem if it is normally completed.
If that error stops the TP program, please cycle the power of the robot controller and run the TP program
again.

Symptom
The alarm “Not yet calibrate Camera” occurs.

Action
This alarm occurs when VSFNDREF is called before VSCAMCLB or VSF_REF is called before
VSF_TCP. Reverse the calling sequence.

Symptom
The alarm “Use previous Camera calibration data” occurs.

Action
The message is to confirm for using calibration data which was done in another measurement area or
different timing (before or after reinstallation). If the position to attach a camera is the same as the camera
position calibration, you can execute the program. If it is not, please execute the camera position
calibration (VSCAMCLB or VSF_TCP) again.

Symptom
The alarm “Vision data name is not same as VSF_TCP” occurs.

Action
The vision data for VSF_REF must be the same as the one for VSF_TCP. Set the same vision data.

Program shift
Symptom
No program shift operation occurs.

Action
1 When the teach pendant is placed in the “Disable(OFF)” state, the program shift operation is not
performed. Perform program shift when the teach pendant is placed in the “Enable(ON)” state.
2 When the program is being edited, the program shift operation cannot be executed. Press the FCTN
key and end the edit of the program.

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Symptom
Pressing an F key on the teach pendant has no effect.

Action
Hold down a key on the teach pendant for a rather long time. If a key is pressed for a very short time, it
might not be recognized.

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13 VISION MULTI-CAL
13.1 ABOUT VISION MULTI-CAL

13.1.1 Overview
Vision Multi-Cal is a function that defines the relationship between two robots, or between a robot and a
positioner coordinated by a single controller.
Coordinated motion control requires that the relative position relationship between the leader group and
follower group be set correctly for the coordinated pair. Vision Multi-Cal automatically obtains
calibration data for this coordinated motion control through the use of a vision sensor.

NOTE
Vision Multi-Cal is only supported on 6-axis robot. It can not be used for 4-axis
and 5-axis robots.

13.1.2 System Configuration

Overall configuration
If you are using coordinated motion with two robots, Vision Multi-Cal defines the relationship between
the two robots, with a camera attached to the tool tip of one robot and a mark to be detected by the vision
function (target mark) attached to the tool tip of the other robot.

Target mark

Camera

Camera cable

iPendant

Target
Camera
mark

Calibration data
(Relative position From one robot to another robot) Robot controller

Fig. 13.1.2(a) System configuration of Vision Multi-Cal (Two robots)

If you are using coordinated motion with a robot and a positioner, Vision Multi-Cal defines the
relationship between a robot and a positioner, with a camera attached to the tool tip of one robot and a
mark to be detected by the vision function (target mark) attached to the tabletop axis of the positioner.

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Camera

Camera cable

Target mark

iPendant
Camera

Target mark

Robot controller

Calibration data
(Relative position From a positioner to a robot)

Fig. 13.1.2(b) System configuration of Vision Multi-Cal(One robot and one positioner)

Limitation
• The two robots, or a robot and a positioner need to be controlled by a single robot controller.
• Vision Multi-Cal for a robot and a positioner supports unknown point calibration only.

Target mark
Two recommended targets are shown below. The second target is a combination of a circle and a cross.

Fig. 13.1.2(c) Example 1 of a target mark

Fig. 13.1.2(d) Example 2 of a target mark

A target should have the following features:

• A flat detection surface.
• A contour that makes it easy to recognize the size of the target. (The circle in the above
examples.)
• A contour that makes it easy to recognize rotation within 45 degree range. (The cross in the
above examples.)

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NOTE
Glossy materials are not recommended.
If a metal target is required, use one with a frosted surface, such as anodized
aluminum (duralumin).
A handy way to attach a target mark is to affix a sticker with that mark printed on
it.

13.1.3 Outline of the Vision Multi-Cal Procedure

Vision Multi-Cal calculates the position relationship between two robots by executing a TP program for
calibration.
A calibration TP program for two robots can be created automatically using the Vision Multi-Cal screen.
The procedure is outlined below.

Installation of the camera and Connect the camera to the controller or the iPendant, and
target mark then attach
The target mark and camera to the robots respectively.

In the Vision Multi-Cal screen, set the data necessary

Setting of schedule data
for calibration, such as the CD pair number and
calibration TP program name.

Setting of vision data Move the robot to the position where calibration is to be
performed, so that the target mark comes into the field of view
of the camera.
Teach a model to be used for the vision function to detect the
target mark.

Creation of a TP program Check that the robot is at a position where the target mark is
within the field of view of the camera (calibration start
position). Move the robot if necessary.
Create a TP program for calibration.

Calibration Run the TP program to perform calibration.

The calibration TP program automatically does the following:
• Setting of the TCP for the leader group
• Setting of the TCP for the follower group
• Calculation of the position relationship between the
leader group robot and follower group robot by moving
the leader and follower groups

Update of the calibration result Set the calibration result in the coordinated pair data.
Then, turn off the controller power and turn it back on to cold
start the controller.

A calibration TP program for a robot and a positioner has to be created manually. The procedure is
outlined below.

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Installation of the camera and Connect the camera to the controller or the iPendant, and
target mark then attach the target mark and camera to the robots
respectively.

Setting of vision data Move the robot to the position where calibration is to be
performed, so that the target mark comes into the field of view
of the camera.
Teach a model to be used for the vision function to detect the
target mark.

Creation of a TP program Create a TP program for calibration manually. Teach each

point for vision measurement.
Check that the robot is at a position where the target mark is
within the field of view of the camera for each teaching point.

Execution of vision measurement Run the TP program to perform vision measurement for each
point.

Calibration and Calculate calibration data and between the robot and the
update of the result positioner. Set the calibration result in the coordinated pair
data.
Then, turn off the controller power and turn it back on to cold
start the controller.

The following section describes the detail of the method for Vision Multi-Cal. To set the calibration data
between two robots, refer to “13.2 PROCESS FOR VISION MULTI-CAL (TWO ROBOTS)”. To set the
calibration data between a robot and a positioner, refer to “0 This section describes the content of the
Vision Multi-Cal TP program and how the robots move when this program is run.
The content of the Vision Multi-Cal TP program is as follows.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

For 7DC3/10 (V8.30P/10) or later software, call instructions of the program VCRSM_CHECK, label
instructions, and jump instructions are added to the TP program as below so that efficient resuming of the
measurement can be done.

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VMCAL_1

1: CALL VCRSM_CHECK('START') ;
2: UFRAME_NUM=0 ;
3: UTOOL_NUM=9 ;
4: ;
5: IF $VCRSM_CFG.$STEP_NUM>=2,
JMP LBL[2] ;
6: CALL VCRSM_CHECK(1) ;
7:J P[1] 30% FINE ;
8: CALL VTCPINIT('INIT',0) ;
9: CALL VTCPINIT ;
10: CALL VTCPSET('VSFT1',1) ;
11: ;
12: LBL[2] ;
13: IF $VCRSM_CFG.$STEP_NUM>=3,
JMP LBL[3] ;
14: CALL VCRSM_CHECK(2,1,2) ;
15: CALL VTCPSET('VSFT1',2) ;
16: ;
17: LBL[3] ;
18: CALL VCRSM_CHECK(3,1,2) ;
19: CALL VTHSCLB(1) ;
20: CALL VCRSM_CHECK('END') ;
[End]

Here is the explanation for each line of the TP program. The line number for 7DC3/10 (V8.30P/10) or
later software is noted in parentheses. The following is the explanation for 7DC3/09 (V8.30P/09) or
earlier software, so read the line number in parentheses if the software version is 7DC3/10 (V8.30P/10) or
later.
Line 1 (Line 2): The user frame number is always 0.
Line 2 (Line 3): The tool frame number is changed to that set in the schedule.
Line 4 (Line 7): This is the calibration start position. The two robots move in relation to this position.
Line 5 (Line 9): The initialization subprogram VTCPINIT is executed.
Line 6 (Line 10): The TCP of the leader group (group 1 in this example) is set.
Line 7 (Line 15): The TCP of the follower group (group 2 in this example) is set.
Line 8 (Line 19): The calibration data is calculated. The VTHSCLB parameter indicates the schedule
number.

If necessary, the intermediate point between the original point and the calibration start position may be
added before line 3 and the return operation to the original point after calibration and other instructions
may be added after line 7.

Calibration start position

The two robots of the leader group and follower group are placed at their respective start positions.
Install the target mark to the tool tip of one robot and the camera to the tool tip of the other robot.
Make sure that, when the robot is at the start position, the mark is seen near the center of the field of view
of the camera. The distance between the camera and mark should be about 400 mm.

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VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

Target
mark Camera

Leader group
Follower group

Fig. 13.1.3 (a) Vision Multi-Cal start position

Installation example) In arc welding coordinated motion, it is common for the leader group to hold the
workpiece and for the follower group to hold the torch. In that case, the installation is easy to do if the
target mark is attached to the hand of the leader group or the workpiece held by it and the camera is
attached to the welding torch of the follower group.
To which robot to install the camera and to which robot to install the mark is left to the discretion of the
personnel. The system may be configured so that the leader group holds the camera and the follower
group holds the target mark.

Setting the leader group TCP

Set the tool frame of the leader group.

Line 6: The TCP of the leader group (group 1 in this example) is set.

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VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

The first VTCPSET parameter VSFT1 indicates the vision data name specified in the schedule.
The second parameter indicates the group number of the robot.
The robot of only the leader group moves so that the mark is seen from many different directions from the
camera. The robot of the follower group does not move.
Set the TCP of the leader group at the center of the target mark.

Leader group
Follower group
(Move)
(Hold)

Fig. 13.1.3 (b) Setting the TCP of the leader group

Setting the follower group TCP

Set the tool frame of the follower group.

Line 7: The TCP of the follower group (group 2 in this example) is set.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

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The robot of only the follower group moves so that the mark is seen from many different directions from
the camera. The robot of the leader group does not move.
Set the TCP of the follower group at the center of the reference mark.

Leader group
Follower group
(Hold)
(Move)

Fig. 13.3 (c) Setting the TCP of the follower group

Coordinated robot calibration

Calibrate the coordinated robots.

Line 8: The calibration data is calculated. The VTHSCLB parameter indicates the schedule number.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

The subprogram VTHSCLB is executed. The robots of both the leader group and follower group move.
The leader group moves in the X, Y, and Z directions (tool frame of the camera), and the follower group
moves according to the leader group.
The calibration data (position and posture of the base coordinate system of the leader group relative to
that of the follower group) is calculated.

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Leader group
Follower group
(Move)
(Move)

Fig. 13.3 (d) Coordinated robot calibration

PROCESS FOR VISION MULTI-CAL (ONE ROBOT AND ONE POSITIONER)”.

13.2 PROCESS FOR VISION MULTI-CAL (TWO ROBOTS)

13.2.1 Preparation
Connecting and installing camera
Connect the camera to the robot controller or the iPendant.
Check that the camera image is properly displayed, as instructed in "3 BASIC VISION FUNCTION
OPERATION".
Secure the camera to the tool tip of either the leader group or follower group. Although there is no exact
specification as to the position where the camera is to be installed, make sure the camera is fixed securely
so that it does not move during measurement.
The camera may be installed on either the leader group robot or follower group robot.

Installing Target Mark

Install the target mark to the tool tip of the robot other than the one on which the camera has been
installed. Although there is no exact specification as to the position where the target mark is to be
installed, make sure the mark is fixed securely so that it does not move during measurement.

Setting coordinated pair

To calibrate a coordinated pair, set the leader group and follower group in advance using the coordinated
pair setup screen.

13.2.2 Vision Multi-Cal Screen

The procedure for displaying the Vision Multi-Cal screen is as follows.

Procedure 13-2-1 Displaying the Vision Multi-Cal screen

Step
1 Press the MENU key.
2 Select ”UTILITIES”.
3 Press F1 [TYPE] .

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4 Select ”iRCalibration”.

If "iRCalibration" is selected, the teach pendant displays a screen as shown below.

This screen lists the available iRCalibration functions. The items displayed on the screen differ
depending on the status of the options.

UTILITIES iRCalibration
1/2
1 Vision MultiCal
2 Vision Master Recovery

[ TYPE ]DISP_IMG DETAIL

5 Move the cursor to "Vision Multi-arm Frame Set" and press the F3 (DETAIL) or ENTER key.
The teach pendant displays the Vision Multi-Cal screen as shown below.

UTILITIES iRCalibration
Vision MultiCal 1/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : ********
6 Show Result/Update

[ TYPE ]DISP_IMG

Items of the Vision Multi-Cal screen

The Vision Multi-Cal screen displays the items described below.
The relationship between the two robots can be defined by selecting and setting these onscreen items
sequentially.

Schedule Number
The settings necessary for Vision Multi-Cal calibration and the calibration result are stored in system
variables called schedules. There are 10 schedules, from 1 to 10, allowing up to 10 different sets of
calibration setting and calibration result data. Here, specify the number of the schedule to be used
for calibration.
The settings and calibration results stored in schedules are retained even after the power of the
controller is turned off.

Setup
This item sets up the schedule necessary to perform calibration.
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Vision Setup
This item teaches a model used for the vision function to detect the target, and adjust the parameters
used for target detection by the vision function.

Create Program
This item automatically creates a TP program for calibration according to the settings of the
schedule.

Run
The teach pendant displays the calibration TP program.
If the TP program is executed from the teach pendant, Vision Multi-Cal calibration is performed to
obtain the data on the relative position relationship between the robots.

Show Result/Update
This item displays the calibration result obtained by executing the TP program (data on the relative
position relationship between the robots).
The calibration result is set in the coordinated pair data (or in the user frame if the coordinated pair
option is not available).

13.2.3 Selecting a Vision Multi-Cal Schedule

Move the cursor to "Schedule Number" on the Vision Multi-Cal screen, and enter the number of the
schedule to be used for calibration.

UTILITIES iRCalibration
Vision MultiCal 1/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : ********
6 Show Result/Update

[ TYPE ]DISP_IMG

13.2.4 Setting up a Vision Multi-Cal Schedule

Set up the schedule.
Set the number of the coordinated pair or user frame in which the calibration result is to be set, the name
of the calibration TP program, vision data name (model data name), etc.
The appearance of the setup screen changes depending on whether the coordinated pair option is available
or not.
When the coordinated pair option is available, see 13.2.4.1, "Coordinated calibration setup". When the
coordinated pair option is not available, see 13.2.4.2, "Uncoordinated calibration setup".

13.2.4.1 Coordinated calibration setup

This subsection describes the schedule setup screen displayed when the coordinated pair option is
available.

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Procedure 13-2-2 Setting up a schedule for a coordinated pair

Condition
• Choose the number of the coordinated pair for which to perform calibration.
Set the leader group and follower group in advance using the coordinated pair setup screen.
Step
1 Move the cursor to "Setup" on the Vision Multi-Cal screen, and press the ENTER key.

UTILITIES iRCalibration
Vision MultiCal 2/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : ********
6 Show Result/Update

[ TYPE ]DISP_IMG

The teach pendant displays a screen as shown below.

UTILITIES iRCalibration
Vision MultiCal: Setup 1/6
Schedule Number[ 1]
1 CD Pair : [1]
Leader Group : 0
Follower Group : 0
2 Program Name : ********
3 Vision Data : VSFT1
4 Utool Number : 9
5 Mean Error Register : R[ 0]
6 Max. Error Register : R[ 0]

[ TYPE ]

2 Move the cursor to "CD Pair", and enter the number of the desired coordinated pair.
The "Leader Group" and "Follower Group" fields respectively display the group numbers of the
leader group and follower group set for the coordinated pair corresponding to the specified number.

NOTE
This screen does not allow you to change the leader group number or the
follower group number. Use the coordinate pair setup screen to change the
leader group and follower group.

3 Move the cursor to "Program Name", and enter the name of the TP program for calibration.
4 Move the cursor to "Vision Data", and press F4 (SELECT). From the resulting list, select the name
of the vision data.

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5 Move the cursor to "UTool Number", and enter the number of the tool frame to be used by the
calibration TP program.

NOTE
Execution of the calibration program changes the tool frame data in the tool.
Make sure the Utool Number is not used by other programs.

6 Move the cursor to "Mean Error Register", enter the number of the register to which to output the
mean error. If the mean error is not to be output to any register, enter 0 as the register number.
7 Move the cursor to "Max. Error Register", enter the number of the register to which to output the
maximum error. If the maximum error is not to be output to any register, enter 0 as the register
number.

The following is an example of the screen that might be displayed when the schedule setup is complete.

UTILITIES iRCalibration
Vision MultiCal: Setup 1/6
Schedule Number[ 1]
1 CD Pair : [1]
Leader Group : 1
Follower Group : 3
2 Program Name : VMCAL_1
3 Vision Data : VSFT1
4 Utool Number : 9
5 Mean Error Register : R[ 50]
6 Max. Error Register : R[ 51]

[ TYPE ]

The following table lists the items to be set on the setup screen when the coordinated pair option is
available.

Table 13.2.4.1 Schedule (for a coordinated pair)

Item Explanation
Schedule Number (Display only) Number of the schedule
To change the schedule number, return to the Vision Multi-Cal screen by pressing the
PREV key.
CD Pair This item indicates the number of the coordinated pair to be calibrated
(Default: 1) The displayed numbers of the leader group and follower group are those that are set for
the coordinated pair. This screen does not allow the leader group and follower group to
be changed. To change the leader group and follower group, use the coordinated pair
setup screen.
Leader Group (Display only) This item indicates the leader group that is set for the selected
coordinated pair number
Follower Group (Display only) This item indicates the follower group that is set for the selected
coordinated pair number
Program Name This item indicates the name of the calibration TP program
(Default: none)
Vision Data This item indicates the name of the model data for detection by the vision function.
(Default: VSFT1) Select one of the eight data names, VSFT1 to VSFT8.

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B-83724EN/02 13.VISION MULTI-CAL

Item Explanation
UTool Number This item indicates the number of the tool frame to be used by the calibration TP program
Both the leader group and follower group use the same tool frame.
Note) The data of the specified tool frame is changed when the TP program is
executed.
Mean Error Register This item indicates the number of the register in which the mean calibration position error
(Default: 0) (mm) is to be set. When the register number is 1 or larger, the mean error is set in the
specified register when calibration is complete. When the register number is 0, the error
is not set in any register.
Max. Error Register This item indicates the number of the register in which the maximum calibration position
(Default: 0) error (mm) is to be set. When the register number is 1 or larger, the maximum error is
set in the specified register when calibration is complete. When the register number is 0,
the error is not set in any register.

13.2.4.2 Uncoordinated calibration setup

When the coordinated pair option is not available, the following screen is displayed.

UTILITIES iRCalibration
Vision MultiCal: Setup 1/8
Schedule Number[ 2]
1 UFrame Number(Calib Data): [ 0]
2 Leader Group : 0
3 Follower Group : 0
4 Program Name : ********
5 Vision Data : VSFT1
6 UTool Number : 9
7 Mean Error Register : R[ 0]
8 Max. Error Register : R[ 0]

[ TYPE ]

The calibration result (position and direction of the base coordinate system of the leader group relative to
that of the follower group) is set in the user frame of the follower group. In this screen, specify the
number of the user frame in which to set the calibration result, leader group number, and follower group
number, instead of a coordinated pair number. The other items are the same as when the schedule is set
up for a coordinated pair.
By default, 0 is shown in the "UFrame Number", "Leader Group", and "Follower Group" fields. Be sure
to set 1 or a larger number in these fields.
The "Program Name" field is blank by default. Enter a TP program name.
The following is an example of the screen that may be displayed when the schedule setup is complete.

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UTILITIES iRCalibration
Vision MultiCal: Setup 1/8
Schedule Number[ 2]
1 UFrame Number(Calib Data): [ 2]
2 Leader Group : 1
3 Follower Group : 3
4 Program Name : VMCAL_2
5 Vision Data : VSFT1
6 UTool Number : 9
7 Mean Error Register : R[ 50]
8 Max. Error Register : R[ 51]

[ TYPE ]

The following table lists the items to be set on the setup screen when the coordinated pair option is not
available.

Table 13.2.4.2 Schedule (for an uncoordinated pair)

Item Explanation
Schedule Number (Display only) Number of the schedule
To change the schedule number, return to the Vision Multi-Cal screen by pressing the
PREV key.
UFrame Number This item indicates the number of the user frame in which the result of coordinated
(default: 0) calibration is to be set. The calibration result is set in the follower group's user frame
corresponding to the specified number.
Leader Group This item specifies the number of the leader group.
(default: 0)
Follower Group This item specifies the number of the follower group.
(default: 0)
Program Name This item indicates the name of the calibration TP program
(default: none)
Vision Data This item indicates the name of the model data for detection by the vision function.
(default: VSFT1) Select one of the eight data names, VSFT1 to VSFT8.
UTool Number This item indicates the number of the tool frame to be used by the calibration TP program
(default: 9) Both the leader group and follower group use the same tool frame.
Note) The data of the specified tool frame is changed when the TP program is
executed.
Mean Error Register This item indicates the number of the register in which the mean calibration position error
(default: 0) (mm) is to be set. When the register number is 1 or larger, the mean error is set in the
specified register when calibration is complete. When the register number is 0, the error
is not set in any register.
Max. Error Register This item indicates the number of the register in which the maximum calibration position
(default: 0) error (mm) is to be set. When the register number is 1 or larger, the maximum error is
set in the specified register when calibration is complete. When the register number is 0,
the error is not set in any register.

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13.2.5 Setting Up Vision

Display the Vision Data Setup Screen, teach the shape of the object to be detected by the vision function
(model) and adjust the detection parameters.
Move the cursor to "Vision Setup" on the Vision Multi-Cal screen, and press the ENTER key.

UTILITIES iRCalibration
Vision MultiCal 3/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : ********
6 Show Result/Update

[ TYPE ]DISP_IMG

The teach pendant displays the Vision Data Setup Screen as shown below.

iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ][ ]
VSFT2 [Not Trained][ ]
VSFT3 [Not Trained][ ]
VSFT4 [Not Trained][ ]
VSFT5 [Not Trained][ ]
VSFT6 [Not Trained][ ]
VSFT7 [Not Trained][ ]
VSFT8 [Not Trained][ ]

DISP_IMG DETAIL COPY INIT

Teach the vision data corresponding to the data name specified on the schedule setup screen.
The Vision Data Setup Screen is the same as that displayed when "VISION SETUP" is selected from the
FCTN key menu. For details, refer to ”3 BASIC VISION FUNCTION OPERATION”.

13.2.6 Program Creation

A TP program for Vision Multi-Cal calibration is automatically created.
Make sure that the target mark is within the field of view of the camera and that the distance between the
camera and the mark is about 400 mm. The current position of the leader group and follower group is
taught as the start position of the calibration operation.
Move the cursor to "Create Program", and press the ENTER key.

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13.VISION MULTI-CAL B-83724EN/02

UTILITIES iRCalibration
Vision MultiCal 4/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VMCAL_1
6 Show Result/Update

[ TYPE ]DISP_IMG

The teach pendant displays a screen as shown below.

Pressing the F1 (NEXT) key creates the program.

UTILITIES iRCalibration
Message:

Program: VMCAL_1
is generated.
Press (NEXT).

NEXT

If there is any existing program that has the same name as the program being created, the teach pendant
displays a confirmation screen as shown below.
To create a new program by overwriting the existing program, press the F2 (YES) key.
To quit creating the program, press the F3 (NO) key.

UTILITIES iRCalibration
Message:

Program: VMCAL_1
OK to Delete & Re-generate program?

YES NO

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13.2.7 Executing Program

Execute the calibration TP program.
Move the cursor to "Run", and press the ENTER key.

UTILITIES iRCalibration
Vision MultiCal 5/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VMCAL_1
6 Show Result/Update

[ TYPE ]DISP_IMG

The teach pendant displays the calibration TP program.

T2 30%
VMCAL_1
1/9
1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',3)
8: CALL VTHSCLB(1)
[End]

POINT TOUCHUP

NOTE
For 7DC3/10 (V8.30P/10) or later software, call instructions of the program
VCRSM_CHECK, label instructions, and jump instructions are added to the TP
program so that efficient resuming of the measurement can be done. For details,
refer to “13.3 VISION MULTI-CAL TP PROGRAM (TWO ROBOTS)”.
For 7DC3/10 (V8.30P/10) or later software, if the measurement is interrupted by
the release of the SHIFT key, the occurrence of an alarm or other reasons,
re-execute the TP program after moving the cursor to the first line. If a part of the
measurement has been completed, a message “Press 0 (restart) or 9 (resume)”
appears. Press the 0 key to restart the measurement from the beginning or the 9
key to resume the measurement.

Execute this TP program.

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When the program ends, the calibration data (position and posture of the master relative to the slave) is
stored in the schedule data. Also, the data is output to the specified registers if the mean error register and
maximum error register numbers are specified.
To display the Vision Multi-Cal screen after completing the program execution, press the MENU key and
select "UTILITIES" and then "iRCalibration" from the menu.

NOTE
If the TP program generates a “CVIS-021 Exceed VisPool” error but completed
its execution, the error can be safely ignored. However, if the “CVIS-021” error
stops program execution, cycle controller power and rerun the TP program
again.

13.2.8 Displaying and Updating Calibration Result

After completing the execution of the TP program, press the MENU key and select "UTILITIES" and
then "iRCalibration" from the menu.

Move the cursor to "Vision Multi-arm Frame Set", and press the F3 (DETAIL) key or the ENTER key.

UTILITIES iRCalibration
1/2
1 Vision MultiCal
2 Vision Master Recovery

[ TYPE ]DISP_IMG DETAIL

Move the cursor to "Show Result/Update" on the Vision Multi-Cal screen, and press the ENTER key.

UTILITIES iRCalibration
Vision MultiCal 6/6
1 Schdule Number : [ 1]
2 Setup
3 Vision Setup
4 Create Program
5 Run : VMCAL_1
6 Show Result/Update

[ TYPE ]DISP_IMG

The calibration result display/update screen shown below will be displayed. The screen to be displayed
differs depending on whether the coordinated pair option is available or not.
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B-83724EN/02 13.VISION MULTI-CAL

When the coordinated pair option is available

UTILITIES iRCalibration
Vision MultiCal: Update

Program Name: VMCAL_1

X: 2600.214 Y: -0.330 Z: -145.468

W: 0.002 P: -0.000 R: 179.999
Mean Fit Error: 0.049 mm
Max. Fit Error: 0.089 mm

CD Pair [1]

[ TYPE ] UPDATE

The screen displays the calibration result and the coordinated pair number for which the result is to be set.

When the coordinated pair option is unavailable

UTILITIES iRCalibration
Vision MultiCal: Update

Program Name: VMCAL_2

X: 2600.214 Y: -0.330 Z: -145.468

W: 0.002 P: -0.000 R: 179.999
Mean Fit Error: 0.049 mm
Max. Fit Error: 0.089 mm

UFrame [G:3, 2]

[ TYPE ] UPDATE

The screen displays the calibration result, the group number, and the user frame number for which the
result is to be set.

Updating the calibration result

To set the calibration result in the coordinated pair data or the follower group's user frame, press the F3
(UPDATE) key while holding down the SHIFT key. After that, turn off the power of the controller and
then turn it back on.
When not updating the calibration result, press the PREV key.
The calibration data is stored in the schedule having the specified number. The data is retained even
after the power of the robot controller is turned off, until the calibration program is executed again.

NOTE
In order for the updated calibration data of the coordinated pair to take effect, the
controller needs to be cold started by turning its power off and then turning it
back on.
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13.3 VISION MULTI-CAL TP PROGRAM (TWO ROBOTS)

This section describes the content of the Vision Multi-Cal TP program and how the robots move when
this program is run.
The content of the Vision Multi-Cal TP program is as follows.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

For 7DC3/10 (V8.30P/10) or later software, call instructions of the program VCRSM_CHECK, label
instructions, and jump instructions are added to the TP program as below so that efficient resuming of the
measurement can be done.

VMCAL_1

1: CALL VCRSM_CHECK('START') ;
2: UFRAME_NUM=0 ;
3: UTOOL_NUM=9 ;
4: ;
5: IF $VCRSM_CFG.$STEP_NUM>=2,
JMP LBL[2] ;
6: CALL VCRSM_CHECK(1) ;
7:J P[1] 30% FINE ;
8: CALL VTCPINIT('INIT',0) ;
9: CALL VTCPINIT ;
10: CALL VTCPSET('VSFT1',1) ;
11: ;
12: LBL[2] ;
13: IF $VCRSM_CFG.$STEP_NUM>=3,
JMP LBL[3] ;
14: CALL VCRSM_CHECK(2,1,2) ;
15: CALL VTCPSET('VSFT1',2) ;
16: ;
17: LBL[3] ;
18: CALL VCRSM_CHECK(3,1,2) ;
19: CALL VTHSCLB(1) ;
20: CALL VCRSM_CHECK('END') ;
[End]

Here is the explanation for each line of the TP program. The line number for 7DC3/10 (V8.30P/10) or
later software is noted in parentheses. The following is the explanation for 7DC3/09 (V8.30P/09) or
earlier software, so read the line number in parentheses if the software version is 7DC3/10 (V8.30P/10) or
later.
Line 1 (Line 2): The user frame number is always 0.
Line 2 (Line 3): The tool frame number is changed to that set in the schedule.
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B-83724EN/02 13.VISION MULTI-CAL
Line 4 (Line 7): This is the calibration start position. The two robots move in relation to this position.
Line 5 (Line 9): The initialization subprogram VTCPINIT is executed.
Line 6 (Line 10): The TCP of the leader group (group 1 in this example) is set.
Line 7 (Line 15): The TCP of the follower group (group 2 in this example) is set.
Line 8 (Line 19): The calibration data is calculated. The VTHSCLB parameter indicates the schedule
number.

If necessary, the intermediate point between the original point and the calibration start position may be
added before line 3 and the return operation to the original point after calibration and other instructions
may be added after line 7.

Calibration start position

The two robots of the leader group and follower group are placed at their respective start positions.
Install the target mark to the tool tip of one robot and the camera to the tool tip of the other robot.
Make sure that, when the robot is at the start position, the mark is seen near the center of the field of view
of the camera. The distance between the camera and mark should be about 400 mm.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

Target
mark Camera

Leader group
Follower group

Fig. 13.3 (a) Vision Multi-Cal start position

Installation example) In arc welding coordinated motion, it is common for the leader group to hold the
workpiece and for the follower group to hold the torch. In that case, the installation is easy to do if the
target mark is attached to the hand of the leader group or the workpiece held by it and the camera is
attached to the welding torch of the follower group.
To which robot to install the camera and to which robot to install the mark is left to the discretion of the
personnel. The system may be configured so that the leader group holds the camera and the follower
group holds the target mark.
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13.VISION MULTI-CAL B-83724EN/02

Setting the leader group TCP

Set the tool frame of the leader group.

Line 6: The TCP of the leader group (group 1 in this example) is set.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

The first VTCPSET parameter VSFT1 indicates the vision data name specified in the schedule.
The second parameter indicates the group number of the robot.
The robot of only the leader group moves so that the mark is seen from many different directions from the
camera. The robot of the follower group does not move.
Set the TCP of the leader group at the center of the target mark.

Leader group
Follower group
(Move)
(Hold)

Fig. 13.3 (b) Setting the TCP of the leader group

Setting the follower group TCP

Set the tool frame of the follower group.

Line 7: The TCP of the follower group (group 2 in this example) is set.

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B-83724EN/02 13.VISION MULTI-CAL

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

The robot of only the follower group moves so that the mark is seen from many different directions from
the camera. The robot of the leader group does not move.
Set the TCP of the follower group at the center of the reference mark.

Leader group
Follower group
(Hold)
(Move)

Fig. 13.3 (c) Setting the TCP of the follower group

Coordinated robot calibration

Calibrate the coordinated robots.

Line 8: The calibration data is calculated. The VTHSCLB parameter indicates the schedule number.

VMCAL_1

1: UFRAME_NUM=0
2: UTOOL_NUM=9
3: $VSHIFT_CFG.$VISION_TYPE=0
4:J @P[1] 30% FINE
5: CALL VTCPINIT
6: CALL VTCPSET('VSFT1',1)
7: CALL VTCPSET('VSFT1',2)
8: CALL VTHSCLB(1)
[End]

The subprogram VTHSCLB is executed. The robots of both the leader group and follower group move.
The leader group moves in the X, Y, and Z directions (tool frame of the camera), and the follower group
moves according to the leader group.
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13.VISION MULTI-CAL B-83724EN/02

The calibration data (position and posture of the base coordinate system of the leader group relative to
that of the follower group) is calculated.

Leader group
Follower group
(Move)
(Move)

Fig. 13.3 (d) Coordinated robot calibration

13.4 PROCESS FOR VISION MULTI-CAL (ONE ROBOT AND

ONE POSITIONER)

13.4.1 Preparation
Connecting and installing a camera
Connect the camera to the robot controller or the iPendant.
Check that the camera image is properly displayed, as instructed in "3 BASIC VISION FUNCTION
OPERATION".
Secure the camera to the tool tip of the robot. Although there is no exact specification as to the position
where the camera is to be installed, make sure the camera is fixed securely so that it does not move during
measurement.

Installing Target Mark

Install the target mark to the last axis of the positioner. Although there is no exact specification as to the
position where the target mark is to be installed, make sure the mark is fixed securely so that it does not
move during measurement.

Setting coordinated pair

To calibrate a coordinated pair, set the leader group number, follower group number, Axis type and Axis
direction for the positioner in advance using the coordinated pair setup screen.
Set the calibration type to “Unknown type calibration”.

13.4.2 Setting of Vision Data

Display the Vision Data Setup Screen, teach the shape of the object to be detected by the vision function
(model), and adjust the detection parameters. For details, refer to “3 BASIC VISION FUNCTION
OPERATION”.

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iRCalibration
Vision Data Setup List 1/8

Vision Data Status Comment

VSFT1 [Trained ][ ]
VSFT2 [Not Trained][ ]
VSFT3 [Not Trained][ ]
VSFT4 [Not Trained][ ]
VSFT5 [Not Trained][ ]
VSFT6 [Not Trained][ ]
VSFT7 [Not Trained][ ]
VSFT8 [Not Trained][ ]

DISP_IMG DETAIL COPY INIT

13.4.3 Creation of TP Program

Create a TP program for vision measurement in Vision Multi-Cal.
For 7DC3/10 (V8.30P/10) or later software, in the case of one-axis or two-axis rotary table, you can use
the sample program VCMGCAL1.TP or VCMGCAL2.TP as a template for TP program. When the
sample program is not available, refer to the example of TP program for a two-axis rotary table described
later, and create the TP program.

When the sample program is available

For 7DC3/10 (V8.30P/10) or later software, in the case of one-axis or two-axis rotary table, the sample
program VCMGCAL1.TP or VCMGCAL2.TP is available. VCMGCAL1.TP is the sample program for
one-axis rotary table, and VCMGCAL2.TP is the sample program for two-axis rotary table. The contents
of VCMGCAL1.TP and VCMGCAL2.TP are shown below.

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13.VISION MULTI-CAL B-83724EN/02

VCMGCAL2
1: CALL VCRSM_CHECK('START') ;
2: UFRAME_NUM=0 ;
3: UTOOL_NUM=1 ;
4: ;
5: IF $VCRSM_CFG.$STEP_NUM>=2,JMP LBL[2] ;
6: CALL VCRSM_CHECK(1) ;
7:J P[1] 100% FINE ;
8: CALL VTCPINIT('INIT',0) ;
9: CALL VTCPINIT ;
10: CALL VTCPSET('VSFT1',1) ;
11: PAUSE ;
12: ;
13: LBL[2] ;
14: IF $VCRSM_CFG.$STEP_NUM>=3,JMP LBL[3] ;
15: CALL VCRSM_CHECK(2,1,2) ;
16: CALL VTOUCH(1,'VSFT1',3) ;
17: ;
18: !J1 Axis ;
19: LBL[3] ;
20: IF $VCRSM_CFG.$STEP_NUM>=4,JMP LBL[4] ;
VCMGCAL1 21:J P[1] 100% FINE ;
1: CALL VCRSM_CHECK('START') ; 22: CALL VCRSM_CHECK(3) ;
2: UFRAME_NUM=0 ; 23: CALL VTOUCH(1,'VSFT1',0) ;
3: UTOOL_NUM=1 ; 24: CALL VTRECP(1,1,1) ;
4: ; 25: ;
5: IF $VCRSM_CFG.$STEP_NUM>=2,JMP LBL[2] ; 26: LBL[4] ;
6: CALL VCRSM_CHECK(1) ; 27: IF $VCRSM_CFG.$STEP_NUM>=5,JMP LBL[5] ;
7:J P[1] 100% FINE ; 28:J P[2] 100% FINE ;
29: CALL VCRSM_CHECK(4) ;
8: CALL VTCPINIT('INIT',0) ;
30: CALL VTOUCH(1,'VSFT1',0) ;
9: CALL VTCPINIT ;
31: CALL VTRECP(1,1,2) ;
10: CALL VTCPSET('VSFT1',1) ;
32: ;
11: PAUSE ;
33: LBL[5] ;
12: ;
34: IF $VCRSM_CFG.$STEP_NUM>=6,JMP LBL[6] ;
13: LBL[2] ;
35:J P[3] 100% FINE ;
14: IF $VCRSM_CFG.$STEP_NUM>=3,JMP LBL[3] ;
36: CALL VCRSM_CHECK(5) ;
15: CALL VCRSM_CHECK(2,1,2) ;
37: CALL VTOUCH(1,'VSFT1',0) ;
16: CALL VTOUCH(1,'VSFT1',3) ;
38: CALL VTRECP(1,1,3) ;
17: ;
39: ;
18: !J1 Axis ;
40: !J2 Axis ;
19: LBL[3] ;
41: LBL[6] ;
20: IF $VCRSM_CFG.$STEP_NUM>=4,JMP LBL[4] ;
42: IF $VCRSM_CFG.$STEP_NUM>=7,JMP LBL[7] ;
21:J P[1] 100% FINE ;
43:J P[4] 100% FINE ;
22: CALL VCRSM_CHECK(3) ;
44: CALL VCRSM_CHECK(6) ;
23: CALL VTOUCH(1,'VSFT1',0) ;
45: CALL VTOUCH(1,'VSFT1',0) ;
24: CALL VTRECP(1,1,1) ;
46: CALL VTRECP(1,2,1) ;
25: ;
47: ;
26: LBL[4] ;
48: LBL[7] ;
27: IF $VCRSM_CFG.$STEP_NUM>=5,JMP LBL[5] ;
49: IF $VCRSM_CFG.$STEP_NUM>=8,JMP LBL[8] ;
28:J P[2] 100% FINE ;
50:J P[5] 100% FINE ;
29: CALL VCRSM_CHECK(4) ; 51: CALL VCRSM_CHECK(7) ;
30: CALL VTOUCH(1,'VSFT1',0) ;
52: CALL VTOUCH(1,'VSFT1',0) ;
31: CALL VTRECP(1,1,2) ; 53: CALL VTRECP(1,2,2) ;
32: ; 54: ;
33: LBL[5] ; 55: LBL[8] ;
34:J P[3] 100% FINE ; 56:J P[6] 100% FINE ;
35: CALL VCRSM_CHECK(5) ; 57: CALL VCRSM_CHECK(8) ;
36: CALL VTOUCH(1,'VSFT1',0) ; 58: CALL VTOUCH(1,'VSFT1',0) ;
37: CALL VTRECP(1,1,3) ; 59: CALL VTRECP(1,2,3) ;
38: ; 60: ;
39: CALL VCRSM_CHECK('END') ; 61: CALL VCRSM_CHECK('END') ;
[End] [End]

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B-83724EN/02 13.VISION MULTI-CAL
The motion group in each sample program is [1, 1, *, *, *, *, *, *].
If the configuration of the motion group is the same as that of the sample program, copy the sample
program, and perform the following operations.
• Set the first argument of VTCPSET to the vision data name in "13.4.2 Setting of Vision Data", and
the second argument of VTCPSET to the robot group number in line 10.
• Refer to the example of TP program for a two-axis rotary table described later, teach the positions
and set the arguments of VTOUCH and VTRECP.

If the configuration of the motion group is not the same as that of the sample program, create a new TP
program, paste the copied contents of the sample program, and perform the following operations.
• Set the first argument of VTCPSET to the vision data name in "13.4.2 Setting of Vision Data", and
the second argument of VTCPSET to the robot group number in line 10.
• Set the second argument of VCRSM_CHECK to the robot group number and the third argument of
VCRSM_CHECK to the positioner group number in line 15.
• Refer to the example of TP program for a two-axis rotary table described later, teach the positions
and set the arguments of VTOUCH and VTRECP.

When the sample program is not available

When you create a TP program for vision measurement in Vision Multi-Cal, it is necessary to teach
reference points for measurement. The following number of the reference points is necessary.
• If the axis type of the positioner is rotary, 3 points per one axis are necessary.
• If the axis type of the positioner is linear, 2 points per one axis are necessary.

The above reference points are necessary for each axis.

For example, in the case of two-axis rotary table, the needed number of reference points is 3 * 2 = 6. The
following explains an example of TP program for a two-axis rotary table.

NOTE
For 7DC3/10 (V8.30P/10) or later software, VSETTCP can not be used. Replace
the VSETTCP program in line 4 with the following 3 lines.
CALL VTCPINIT('INIT',0) ;
CALL VTCPINIT ;
CALL VTCPSET('VSFT1',1) ;

Here is the explanation for each line of the above TP program.

1 Teach the initial position for measurement. This position is recommended to satisfy the following
conditions.
• The target is viewed near the center of a camera image.
• The target plane is almost parallel to the lens of the camera.
• The distance between the camera and the target is about 400 mm.
• A sufficient space is available to prevent peripheral interference during execution of the TP
program.

1: UFRAME_NUM=0 ;
2: UTOOL_NUM=2 ;
3:J P[1:J1-1] 100% FINE ;
4: CALL VSETTCP('VSFT1',50,100,1) ;
5: CALL VTOUCH(1,'VSFT1',3) ;

2 Call the program VSETTCP. During execution of this program, the robot automatically changes the
position and posture of the tool to show the target in different orientations to the camera. For details
of the arguments and the movement of VSETTCP, refer to “10.4.1 Vision TCP Set Program
(7DC3/09 (V8.30P/09) or earlier)”. For 7DC3/10 (V8.30P/10) or later software, VSETTCP is not
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13.VISION MULTI-CAL B-83724EN/02

available, so replace VSETTCP with VTCPINIT and VTCPSET as the above note. For details of the
arguments and the operation by VTCPSET, refer to “10.4.2 Vision TCP Set Program (7DC3/10
(V8.30P/10) or later)”.

1: UFRAME_NUM=0 ;
2: UTOOL_NUM=2 ;
3:J P[1:J1-1] 100% FINE ;
4: CALL VSETTCP('VSFT1',50,100,1) ;
5: CALL VTOUCH(1,'VSFT1',3) ;

3 Call the program VTOUCH. This program performs the initial setting for measurement of the
reference points later. Specify the arguments below.
Argument 1: Specifies the group number of a robot used for VTOUCH.
Argument 2: Specify a vision data name (model name) by using a character string.
Argument 3: Specify the mode for VTOUCH.
In this case, Set 3 to execute initial setting and vision measurement.

1: UFRAME_NUM=0 ;
2: UTOOL_NUM=2 ;
3:J P[1:J1-1] 100% FINE ;
4: CALL VSETTCP('VSFT1',50,100,1) ;
5: CALL VTOUCH(1,'VSFT1',3) ;

4 Teach the target measurement positions.

In case of two-axis rotary table, for example, teach 6 positions as follows. Each point should be as
far as possible. All axes, except the one being calibrated, must be at their zero positions.
• 1st point for setting J1: (J1, J2) = (0.0, 0.0) [deg]
• 2nd point for setting J1: (J1, J2) = (30.0, 0.0) [deg]
• 3rd point for setting J1: (J1, J2) = (60.0, 0.0) [deg]
• 1st point for setting J2: (J1, J2) = (0.0, 0.0) [deg]
• 2nd point for setting J2: (J1, J2) = (0.0, 120.0) [deg]
• 3rd point for setting J2: (J1, J2) = (0.0, 240.0) [deg]

After deciding the teaching points for the positioner, decide the teaching points for the robot. Set
target measurement positions as follows:
• The target is viewed near the center of a camera image.
• The target plane is almost parallel to the lens of the camera.
• The distance between the camera and the target is about 400 mm.
• A sufficient space is available to prevent peripheral interference during execution of the TP
program.

5 Change the storage form of the position data to Joint, if the position data is represented by Cartesian
coordinates.

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B-83724EN/02 13.VISION MULTI-CAL

8: !J1 Axis ;
9:J P[1:J1-1] 100% FINE ;
10: CALL VTOUCH(1,'VSFT1',0) ;
11: CALL VTRECP(1,1,1) ;
12: ;
13:J P[2:J1-2] 100% FINE ;
14: CALL VTOUCH(1,'VSFT1',0) ;
15: CALL VTRECP(1,1,2) ;
16: ;
17:J P[3:J1-3] 100% FINE ;
18: CALL VTOUCH(1,'VSFT1',0) ;
19: CALL VTRECP(1,1,3) ;
20: ;
21: !J2 Axis ;
22:J P[4:J2-1] 100% FINE ;
23: CALL VTOUCH(1,'VSFT1',0) ;
24: CALL VTRECP(1,2,1) ;
25: ;
26:J P[5:J2-2] 100% FINE ;
27: CALL VTOUCH(1,'VSFT1',0) ;
28: CALL VTRECP(1,2,2) ;
29: ;
30:J P[6:J2-3] 100% FINE ;
31: CALL VTOUCH(1,'VSFT1',0) ;
32: CALL VTRECP(1,2,3) ;

NOTE
1 When calibrating axes, you must start from the J1 axis and follow the axis
order...
2 To get better calibration results, make each measurement position as far away
from each other as possible.
3 For positioners, calibrate one axis at a time. The other axes must remain at their
zero positions.
4 The angle for the second point must be larger than that for first point, and the
angle for third point must be larger than that for second point.

6 Call the program VTOUCH and perform vision measurement at the reference points. Specify the
arguments below.
Argument 1: Specifies the group number of a robot used for VTOUCH.
Argument 2: Specifies a vision data name (model name) by using a character string.
Argument 3: Specifies the mode for VTOUCH.
In this case, Set 0 to execute vision measurement.

8: !J1 Axis ;
9:J P[1:J1-1] 100% FINE ;
10: CALL VTOUCH(1,'VSFT1',0) ;
11: CALL VTRECP(1,1,1) ;
12: ;
13:J P[2:J1-2] 100% FINE ;
14: CALL VTOUCH(1,'VSFT1',0) ;
15: CALL VTRECP(1,1,2) ;
16: ;
17:J P[3:J1-3] 100% FINE ;
18: CALL VTOUCH(1,'VSFT1',0) ;
19: CALL VTRECP(1,1,3) ;
20: ;
21: !J2 Axis ;
22:J P[4:J2-1] 100% FINE ;
23: CALL VTOUCH(1,'VSFT1',0) ;
24: CALL VTRECP(1,2,1) ;
25: ;
26:J P[5:J2-2] 100% FINE ;
27: CALL VTOUCH(1,'VSFT1',0) ;
28: CALL VTRECP(1,2,2) ;
29: ;
30:J P[6:J2-3] 100% FINE ;
31: CALL VTOUCH(1,'VSFT1',0) ;
32: CALL VTRECP(1,2,3) ;

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13.VISION MULTI-CAL B-83724EN/02

NOTE
Before the execution of VTOUCH whose third argument is 0, execute VTOUCH
whose third argument is 3, the line 6 in the above example.

7 Call the program VTRECP and record the position of reference points. Specify the arguments below.
Argument 1: Specifies the group number for the coordinated pair.
Argument 2: Specifies the axis number of the positioner to set.
Argument 3: Specifies the reference number corresponding to the number of positioner to set.

8: !J1 Axis ;
9:J P[1:J1-1] 100% FINE ;
10: CALL VTOUCH(1,'VSFT1',0) ;
11: CALL VTRECP(1,1,1) ;
12: ;
13:J P[2:J1-2] 100% FINE ;
14: CALL VTOUCH(1,'VSFT1',0) ;
15: CALL VTRECP(1,1,2) ;
16: ;
17:J P[3:J1-3] 100% FINE ;
18: CALL VTOUCH(1,'VSFT1',0) ;
19: CALL VTRECP(1,1,3) ;
20: ;
21: !J2 Axis ;
22:J P[4:J2-1] 100% FINE ;
23: CALL VTOUCH(1,'VSFT1',0) ;
24: CALL VTRECP(1,2,1) ;
25: ;
26:J P[5:J2-2] 100% FINE ;
27: CALL VTOUCH(1,'VSFT1',0) ;
28: CALL VTRECP(1,2,2) ;
29: ;
30:J P[6:J2-3] 100% FINE ;
31: CALL VTOUCH(1,'VSFT1',0) ;
32: CALL VTRECP(1,2,3) ;

NOTE
The sample program above has points to start measurement only, but the user
may add intermediate points before going to the measurement position.

13.4.4 Execution of TP Program

Execute the created TP program in order to measure by vision.B
NOTE
If the TP program generates a “CVIS-021 Exceed VisPool” error but completed
its execution, the error can be safely ignored. However, if the “CVIS-021” error
stops the program execution, cycle controller power and rerun the TP program
again.

NOTE
If the TP program is created by copying the sample program, call instructions of
the program VCRSM_CHECK, label instructions, and jump instructions are
added to the TP program so that efficient resuming of the measurement can be
done. If the measurement is interrupted by the release of the SHIFT key, the
occurrence of an alarm or other reasons, re-execute the TP program after
moving the cursor to the first line. If a part of the measurement has been
completed, a message “Press 0 (restart) or 9 (resume)” appears. Press the 0
key to restart the measurement from the beginning or the 9 key to resume the
measurement.
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B-83724EN/02 13.VISION MULTI-CAL

13.4.5 Update of the Calibration Result

After execution of the TP program, press the MENU key and select "SETUP" and then "Coord" from the
menu.

If the screen for the unknown point calibration is not displayed, press the F2 [C_TYP] key and select
"Unknown Pt”.
After displaying the screen for unknown type calibration, confirm if all reference points for the
positioners are marked as RECORDED. If there is any reference point whose status is UNINIT, re-try the
vision measurement.
After confirming all reference points are marked as RECORDED, press the SHIFT key and F3 [EXEC]
key together.

SETUP Coord
1/6
Unknown type calibration Coord Pair: 1
Group Number Leader: 2 Follower: 1
X: ******** Y: ******** Z: ********
W: ******** P: ******** R: ********
Axis Number: 1 (Total: 2)
Axis Type: ROTARY
Axis Direction: +Y
Point 1 : RECORDED
Point 2 : RECORDED
Point 3 : RECORDED

[ TYPE ][C_TYP ] EXEC MOVE_TO RECORD

By the calculation of calibration data, the following message is displayed. The data is retained even after
robot controller poweris turned off, until the calibration program is executed again.

SETUP Coord
1/6
Unknown type calibration Coord Pair: 1
Group Number Leader: 2 Follower: 1
X: 1435.026 Y: 0.001 Z: -181.155
W: 180.000 P: 0.302 R: 0.000
Axis Number: 1 (Total: 2)
Axis Type: ROTARY
Axis Direction: +Y
Point 1 : USED
Point 2 : USED
Point 3 : USED

Pair calibrated. Please cold start.

[ TYPE ][C_TYP ] EXEC MOVE_TO RECORD

NOTE
In order for the updated calibration data of the coordinated pair to take effect, the
controller needs to be cold started by turning its power off and then turning it
back on.
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13.VISION MULTI-CAL B-83724EN/02

13.5 TROUBLESHOOTING

13.5.1 An alarm occurs during executing VTCPSET

An alarm such as ‘MOTN-017 Limit error’, ‘MOTN-018 Position not reachable’, or ‘MOTN-023 In
singularity’ may occur during executing ‘CALL VTCPSET(‘vision program name’, ‘group number’)’. In
such a case, try creating the program again after changing initial position of the camera and the target or
initial pose of the robot so that the alarm doesn’t occur.
In case that the alarm still occurs even if the above countermeasure has been taken, add some instructions
in order to narrow the robot-moving range during executing the TP program so that the alarm doesn’t
occur.

The instructions to be added into the TP program are as follows.

¾ Add 5 lines of the instructions before all ‘CALL VTCPSET(‘vision program name’, ‘group
number’)’ as the figure below.
¾ Set ’MOVE_DIST_W’, ’MOVE_DIST_P’, ’MOVE_DIST_R’, ’MOVE_DIST_FW’,
or ’MOVE_DIST_FP’ as the first argument of each added instruction respectively. And set a
value between 5 and 15 to the second argument of each instruction. Note that the smaller these
values are, the less the setting accuracy of the TCP could be, so these values should not be
reduced too much.
¾ Each default value of ’MOVE_DIST_W’, ’MOVE_DIST_P’, ’MOVE_DIST_R’,
’MOVE_DIST_FW’, and ’MOVE_DIST_FP’ is 15.

CALL VTCPINIT('MOVE_DIST_W', 15)

CALL VTCPINIT('MOVE_DIST_P', 15)
CALL VTCPINIT('MOVE_DIST_R', 15)
CALL VTCPINIT('MOVE_DIST_FW', 15)
CALL VTCPINIT('MOVE_DIST_FP', 15)
CALL VTCPSET('VSFT1', 1)
CALL VTCPINIT('MOVE_DIST_W', 15)
CALL VTCPINIT('MOVE_DIST_P', 15)
CALL VTCPINIT('MOVE_DIST_R', 15)
CALL VTCPINIT('MOVE_DIST_FW', 15)
CALL VTCPINIT('MOVE_DIST_FP', 15)
CALL VTCPSET('VSFT1', 2)

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B-83724EN/02 INDEX

INDEX
Displaying the “Vision Axis Master” Screen................ 147
<A> Displaying the ”Vision Master Recovery" Screen ........ 107
ABOUT THIS MANUAL.................................................1 DISPLAYING THE RUNTIME MONITOR.................... 9
ABOUT VISION FRAME SET.................................... 237 Displaying the Vision Mastering Screen.................... 40,59
ABOUT VISION MULTI-CAL.................................... 314 Displaying the Wrist-Axis Vision Mastering Screen .... 205
ABOUT VISION SHIFT............................................... 269
Additional preparation for 4-axis/5-axis Robot............. 224 <E>
Additional Preparation for M-1iA/0.5A ........................ 224 Entering the CV Number of the Target Fixture............. 160
Adjusting detection parameters ....................................... 25 Example of Reference Pose .......................................... 101
ADJUSTING THE CAMERA ...................................... 187 Examples of Reference Pose ........................................... 34
Adjusting the exposure time............................................ 19 Execute the Measurement Program for Check.............. 122
ADJUSTING THE LENS .................................................9 Executing Measurement................................................ 163
ALL-AXIS VISION MASTERING.............................. 185 Executing Program........................................................ 331
An alarm occurs during executing the TP program....... 236 Executing the Measurement Program ................. 51,71,214
An alarm occurs during executing VTCPSET .............. 346 Executing the Measurement Program for Recovery ..... 127
Attaching Gauging Bracket for AMU ........................... 162 Executing the Measurement Program for Reference..... 120
Attaching the Measurement Target ............................... 197 Executing Vision Measurement ...................................... 89
Attaching the Target........................................................ 86 Executing Vision TCP Set ............................................ 227
AUTOMATIC MEASUREMENT................................ 231 Execution of TP Program.............................................. 344
Automatic Measurement for 4/5-axis Robot ................. 233
Automatic Measurement for 6-axis Robot .................... 232 <F>
AVAILABLE TARGET .......................................... 81,135 Features of the Vision Mastering Function, Including
Adjustment of Gravity Compensation Parameters ...... 32
<B>
Backing up Data............................................................ 289 <G>
Basic Functions ............................................................. 142 Generating a Measurement Program................... 41,62,110
BASIC VISION FUNCTION OPERATION ....................7 GENKOTSU VISION MASTERING............................. 82

<C> <I>
CALIBRATING THE CAMERA POSITION .............. 190 IMAGE DISPLAY DURING VISION
Calibration Grid ....................................................... 81,135 MEASUREMENT..................................................... 179
Canceling a Shift Operation .......................................... 299 IMPROVING THE ACCURACY OF TCP .................. 233
Checking Initial Settings ............................................... 274 Improving the Accuracy of X and Y Components of
Checking the Result of Shift Operation......................... 298 TCP ........................................................................... 233
COMPONENTS................................................................4 Improving the Accuracy of Z Component of TCP........ 234
CONNECTING A CAMERA ...........................................7 Initial Pose .................................................................... 199
Connecting the Camera to the Robot Controller or the Installation of AMU and Target Marks......................... 147
iPendant.........................................................................7 INSTALLATION OF THE CAMERA AND
Coordinated calibration setup........................................ 324 CALIBRATION GRID ............................................. 102
Creating and Testing Programs for Vision Shift INSTALLATION OF THE CAMERA AND TARGET. 35
Measurement ............................................................. 277 INSTALLATION OF THE SPECIAL SET OF PARTS186
Creating the Reference Pose ......................................... 206 Installing the Calibration Grid ...................................... 103
Creating the TP Program for Vision Frame Set ..... 245,254 Installing the Camera ............................................... 35,102
Creating the TP Program for Vision Frame Shift.......... 264 Installing the Target ........................................................ 37
Creation of TP Program ................................................ 339
<L>
<D> List of Data Used for Vision Shift ................................ 303
Detail Screen ................................................................... 16 List Screen ...................................................................... 12
Details of TP Programs ................................................. 304 Log File............................................................. 80,134,219
DETAILS OF TP PROGRAMS AND LOG FILE78,132,218 LOG FILE DETAILS ................................................... 183
Detection parameters....................................................... 25
Determining the Reference Pose ..................................... 33 <M>
DISPLAYING ALL-AXIS VISION MASTERING MEASUREMENT ........................................................ 192
SCREEN.................................................................... 186 MEASUREMENT BASED ON VISION SHIFT ......... 274
Displaying and Updating Calibration Result................. 332 MEASURING POSES FOR VISION MASTER
RECOVERY ............................................................. 101
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INDEX B-83724EN/02

MEASURING POSES FOR VISION MASTERING ..... 32 Preparing the Camera and Measurement Target ........... 205
Measuring Reference Points after Reinstallation .......... 283 PROCESS FOR VISION MULTI-CAL (ONE ROBOT
Measuring Reference Points before Reinstallation ....... 281 AND ONE POSITIONER)........................................ 338
Menu Structure of Vision Data Setup Screen.................. 11 PROCESS FOR VISION MULTI-CAL (TWO
Model Training Screen.................................................... 18 ROBOTS).................................................................. 322
MODIFYING A UFRAME ON A REAL ROBOT Program Creation .......................................................... 329
BASED ON A UFRAME OF AN OFFLINE ROBOT PROGRAM SHIFT (ONLINE SHIFT FUNCTION).... 291
................................................................................... 248
Moving Axis to Measurement Position ......................... 162 <R>
MOVING TO THE START POSITION....................... 190 Recovering Mastering Status ........................................ 129
Reference Pose.............................................................. 202
<O> Relationship between Vision Shift and TP Programs ... 301
Offline Shift Operation ................................................. 290 Re-mastering after Replacement of Mechanical Parts .... 97
Offsetting the Tool Frame with VTOFSTUT................ 229 Replacing Robot Parts and Set Temporary Mastering
One-Point Shift Operation............................................. 295 Data ........................................................................... 126
Operating the model training screen ............................... 20 Resetting Alarms........................................................... 148
Operation in “Genkotsu Vision Mastering” Screen......... 93 Resetting Kinematic Parameters ..................................... 97
Operation in the “Select Axis Number” Screen ............ 156 Result of Vision TCP Set for 4-axis/5-axis Robot ........ 229
Operation in the “Select Reference Data” Screen ......... 150 Result of Vision TCP Set for a 6-axis Robot ................ 228
Operation in the “View Reference Data” Screen .......... 154 Robot Poses................................................................... 199
OPERATION OF GENKOTSU VISION MASTERING Running the TP Program for Vision Frame Set ..... 246,255
..................................................................................... 84 Running the TP Program for Vision Frame Shift (after
OPERATION OF VISION AXIS MASTER................. 144 relocation) ................................................................. 266
OPERATION OF VISION MASTER RECOVERY .... 105 Running the TP Program for Vision Frame Shift
OPERATION OF VISION MASTERING WITH THE (perform before relocation) ....................................... 265
GRAVITY COMPENSATION FUNCTION
ENABLED .................................................................. 56 <S>
OPERATION OF VISION MASTERING WITH THE SAFETY PRECAUTIONS ............................................ s-1
GRAVITY COMPENSATION FUNCTION Sample TP Program ...................................................... 301
UNAVAILABLE ........................................................ 38 SAVING AND READING VISION DATA................... 29
OPERATION OF WRIST-AXIS VISION Selecting a Vision Multi-Cal Schedule ......................... 324
MASTERING............................................................ 203 Selecting the Robot Motion Group .......... 225,240,250,260
Operation Procedure.......................................... 84,105,144 Selection of the measurement method........................... 272
Other Operations ........................................................... 286 Setting Camera.............................................................. 201
Outline of Measuring Poses ..................................... 32,101 Setting Countdown........................................................ 149
OUTLINE OF OPERATION ........................................ 186 Setting for TP Program ................................................. 225
Outline of the Operation Procedure.......................... 38,203 Setting of Vision Data................................................... 338
Outline of the Procedure ............................................... 259 Setting Parameters for Measurement and Display the
Outline of the TCP Set Procedure ................................. 221 Runtime Monitor ......................................................... 87
Outline of the Vision Master Recovery Procedure........ 100 Setting Robot Axes to Recover ..................................... 109
Outline of the Vision Mastering Procedure................ 31,57 Setting Robot Group Number ................................ 149,206
Outline of the Vision Multi-Cal Procedure ................... 316 Setting SONY XC-56........................................................ 7
Outline of TP Programs Used for Vision Shift.............. 300 Setting up a Vision Multi-Cal Schedule........................ 324
OUTLINE OF VISION SHIFT ..................................... 269 Setting up Vision.................................................... 277,329
Overall Configuration .................................. 30,98,196,220 Setup ............................................................... 240,251,260
OVERVIEW .............................................................. 3,314 Setup – UFrame Schedule............................................. 262
Overview of AMU ........................................................ 139 Setup – Vision Schedule ............................................... 241
OVERVIEW OF GENKOTSU VISION MASTERING. 82 Setup on the ”Vision Master Recovery” Screen ........... 108
Overview of Target Mark.............................................. 137 Setup on Vision Mastering Screen ............................. 40,60
OVERVIEW OF VISION AXIS MASTER.................. 136 SOFTWARE ..................................................................... 6
Overview of Vision Measurement................................. 140 SPECIFICATIONS OF TP PROGRAMS FOR VISION
SHIFT........................................................................ 300
<P> Specifying a Program for Shift Operation..................... 291
Parameter Setting Screen ................................................ 24 Starting and Ending Measurement Based on Vision
PARTS FOR ALL-AXIS VISION MASTERING ........ 185 Shift........................................................................... 274
PREFACE .........................................................................1 Subprograms Called from VSFINDi ............................. 308
Preparation .......................... 222,238,249,258,274,322,338 SYSTEM CONFIGURATION ....... 30,82,98,136,196,220,
Preparing the Camera ...................................................... 86 ..................................................................... 237,269,314

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B-83724EN/02 INDEX
<T>
Teach Points.................................................... 243,253,263
Three-Point Shift Operation .......................................... 291
TP Program ....................................................... 78,132,218
TP Program to Execute Vision Measurement ................. 83
TROUBLESHOOTING .................................. 236,311,346

<U>
Uncoordinated calibration setup.................................... 327
Update of the Calibration Result ................................... 345
Updating Kinematic Parameters...................................... 95
Updating Mastering Data ............................. 53,73,193,216
Updating the User Frame ................................ 246,256,267
USING iRVision CAMERA ........................................... 27

<V>
Viewing and Saving Mastering Results .............. 55,77,217
Viewing and Saving Recovering Results ...................... 131
Viewing Results and Updating data .............................. 168
Viewing the Past Results............................................... 247
VISION AXIS MASTER.............................................. 136
VISION DATA SETUP SCREEN .................................. 10
VISION FRAME SET .................................................. 237
VISION FRAME SET PROCEDURE .......................... 238
Vision Frame Set Screen ........................................ 239,250
VISION FRAME SHIFT............................................... 257
Vision Frame Shift Screen ............................................ 258
Vision Function Setting................................................. 226
VISION MASTER RECOVERY.................................... 98
VISION MASTERING ................................................... 30
Vision Mastering Functions, Including Adjustment of
Gravity Compensation Parameters .............................. 56
VISION MULTI-CAL .................................................. 314
Vision Multi-Cal Screen................................................ 322
VISION MULTI-CAL TP PROGRAM (TWO
ROBOTS).................................................................. 334
VISION SHIFT ............................................................. 269
Vision shift procedure ................................................... 271
VISION TCP SET......................................................... 220
VISION TCP SET PROCEDURE ................................ 221
Vision TCP Set Program (7DC3/09 or earlier) ............. 231
Vision TCP Set Program (7DC3/10 or later)................. 232
Vision TCP Set Screen.................................................. 224

<W>
WRIST-AXIS VISION MASTERING ......................... 196

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B-83724EN/02 REVISION RECORD

REVISION RECORD
Edition Date Contents
02 Sep., 2015 • Applied to 7DC3/10 (V8.30P/10)
01 Aug., 2014

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