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When doing a 3D calibration in Scorpion using the Calibrator3D tool, a
robot is normally not involved. ExternalCoordinates3D will help you easily
set up the robot coordinates:
- Calibrator + ExternalReference3D -> robot coordinates
- Calibrator3D + ExternalCoordinates3D -> robot coordinates
Similar to ExternalReference3D, the tool setup consists of a set of
coordinate pairs, Local and External. In the Local
fields are the object (or robot) coordinates, and in the External
fields are measured coordinates. The tool will create a best match between
these pairs.
Note that in addition to positioning the 3D coordinates, any inaccuracies
in the robot or other equipment will also be compensated for. This tool
introduces a correction matrix not available from any other tools
Note that at least 4 points must be defined, and they must not be
coplanar.
Test profile
Here is a couple of profiles
T2 is a complete robot calibration - attached to show a complex setup.
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Setup
Coordinate System
Reference - Incoming 3D Reference system selection
3D axis size - defines the length of the 3D axis visualisation
Note: Setting the length can be used to describe
the actual 3D FOV
Points 1-18 - describes 3D to 3D conversion. There are three
pages, with points 1-6, 7-12 and 13-18. These can be used simultaneously or
separately, depending on the application.
Points
Active - activate/deactivate point
Local - real coordinates of the calibration object (X, Y, Z)
External - corresponding measured coordinates (X, Y, Z)
Max deviation - indicates the point with maximum deviation - this is a
possible candidate for deactivation
Import points a-b - Instantly imports current tool values
as static values. See below under Imports.
Inactive points a-b - deactivate all points on the current
page
Active points a-b - activate all points on the current
page
Imports
You can set up tools to provide (3D) points to your calibration.
For example a Locate3D tool. When the tool has a correct value, you can
import the current value into your ExternalReference3D as a
static number.
Active - activate/deactivate import of this point (when
the Import button is clicked)
Tool - the tool providing the 3D point
Result - the point result from the selected tool
Import points a-b - Same as the import button under
Points
Inactive imports a-b - deactivate all imports on the
current page
Active imports a-b - activate all imports on the current
page
Visualisation
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ChildAxes
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The established 3D coordinate system
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ReferenceAxes |
The incoming 3D coordinate system |
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Results
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Number of points |
3D calibration points used |
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RMS |
Projection accuracy, in object coordinates (usually mm) |
ExecuteCmd
support (see also
executeCmd)
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Command |
Parameters |
Return values |
Comments |
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Import |
Point=<n> |
ok,None |
Import a single point (1-18), if import is active
for that point. Fails if the tool's config dialog is
open. |
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Import |
Page=<n> |
ok,None |
Import points on page n (1-3). Only points
with import active are imported. If the tool's
config dialog is open, it is updated. |
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