For the calibration the user must prepare set of measurement points (for the station available points are marked on special label with X-Y-Z coordinates) and the robot program with corresponding points set with measurement devices, for example measuring spike.
Labels with X-Y-Z measurement point coordinates
The robot program should be opened on the left side in Fanuc program viewer and all measurement points added to the table on the right side.
For each measurement point in the table the user should select corresponding point in the robot program.
For the calculation the user must select at least 3 points.
After calculation the result is shown in transformation box with mean absolute error.
The values X-Y-Z and W-P-R are the correct Fanuc robot base.
The calculation error should be as small as possible.
The user can use context menu on measurement points table to assign and clear reference points.
After calculation the user can export all informations to useful measurement report.
The report contains informations about robot and station and all measurement and reference points used for the calibration calculation.
In the figure below you can see an options panel used to customize measurement report.
In the figure below you can see an example measurement report.