Manual

DobotVisionStudio User Guide
Issue V4.1.2 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
164
Basic Parameters:
• Calibration Points Acquisition: Select trigger acquisition or manual input.
• Calibration Points Input: Select by point or by coordinate.
• Image Point: The calibration point of N-point, and points of other modules can be
subscribed.
• Physical Point: Coordinate point of the robot arm. An image point on the VM image
corresponds to a physical point of the robot arm. (It is recommended not to subscribe, but to generate
automatically.) You can select one from physical angle and physical coordinate.
• Image Rotate Angle: The angle of other modules can be subscribed, and the rotation
consistency and left and right hand coordinate system can be obtained through related calculations.
• World Rotate Angle: The angle of the current pose manipulator is generally obtained from
an external device, and the rotation consistency and left-handed coordinate system can be obtained
through related calculations. You can select one from physical angle and physical coordinate.
• Translation Number: The times for obtaining calibration by moving. It is related with X/Y
movement only, and it is set as 9 by default.
• Rotation Number: The number of rotations is required when the rotation axis is not coaxial
with the center of the image, and it is recommended to set as 3. The rotation happens at the 5th
location.
• Update File: After a round of calibration is completed, if the update file control is enabled,
the new round of calibration will update the calibration results to the calibration file.
• Set Calibration File Path: The absolute path of the calibrate file. If the file exists in this
path, it will be loaded. If it does not exist, it will fail to load and an error will be reported when
running.
• Demonstration: After enabling it, the software can identify whether the external signals
are demonstration signal or not, and you need to set external input character and external triggered
character.
• External Input Character: You can subscribe signals of external devices.
• External Triggered Character: It judges whether the external input signal is the basis of
the demonstration signal. When the external input character is consistent with the external trigger
character, the signal is a demonstration signal.
• Fiducial Point X and Fiducial Point Y: Physical coordinate of calibration original point,
it sets as (0, 0), and the unit is mm.
• Offset X and Offset Y: Physical offset in X or Y direction of each movement of the robot
arm, which can be positive or negative, and the unit is mm.
• Movement First: Sets the movement direction of the mechanical.
• Commutation Times: The times of robot arm changes direction after moving.
• Angle Offset: The initial rotation angle and rotation angle at each time. If it rotates 3 times,
and rotation angle is from -10 degrees to 0 degree, and then to +10 degrees. The fiducial angle is -
10 degrees and offset angle is 10 degrees.