Motion Guided Hand-eye Calibration Commands

In motion guided hand-eye calibration, the motion system is responsible for initializing a hand-eye calibration, computing the next target pose and triggering the vision system after stage finishes moving to the target pose, and ending the hand-eye calibration when all poses are run through. Whereas the vision system acts in response to the motion system's commands.

HEB

HEB stands for hand-eye calibration begins, it initiates a motion guided hand-eye calibration.

Command String

HEB,<EncodedID>

Field	Arguments
<EncodedID>	EncodedID = StepID of hand-eye calibration task + Process Tag(2000)

Result String

HEB,<Status>CR/LF

Field	Arguments
<Status>	The result status 1 : Success ErrorCode: Fail

HE

Executes a hand-eye calibration task to acquire images and accumulate extracted features of calibration target at a certain stage pose.

Command String

HE,<EncodedID>,<TargetID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field	Description
<EncodedID>	EncodedID = StepID of hand-eye calibration task
<TargetID>	0 (not used)
<X>	The X-coordinate of the current position of the motion system
<Y>	The Y-coordinate of the current position of the motion system
<Z>	0 (not used)
<A>	The theta(in Degree) of the current position of the motion system
<B>	0 (not used)
<C>	0 (not used)

Result String

HE,<Status>CR/LF

Field	Arguments
HE	Command Key
<Status>	The result status 1 : Success ErrorCode : Fail

HEE

HEE stands for hand-eye calibration end. It triggers the vision system to compute the hand-eye calibration results based on the data collected in the previous “HE” steps.

Command String

HEE,<EncodedID>

Field	Arguments
<EncodedID>	EncodedID = StepID of hand-eye calibration task + Process Tag(2000)

Result String

HEE,<Status>CR/LF

Field	Arguments
<Status>	The result status 1 : Success ErrorCode : Fail