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test_calibration

Returns

• 201 <n> <response> if command succeeded, else refer to error codes.

  • <n> is the number of parts found.

  • <response> lists the x, y and rz coordinates of all the parts found on the plate using the last saved hand-eye calibration. The coordinates of each part found is written on a new line.

    Note

    • The x and y coordinates are expressed in the same units as entered during calibration.

    • The angle rz is expressed in degrees.

Description

This command is used to test the current calculated hand-eye calibration. It returns the robot coordinates of the detected part on the plate. You can then check if the detected robot coordinates match the actual robot coordinates.

Usage example

calibrate
200 calibration_accuracy=0.42
test_calibration
201 3 x=152.45689 y=-86.33004 rz=158.32
x=1.23231 y=128.89711 rz=-28.09
x=67.89891 y=-28.02956 rz=11.98