Auto ID Input File

Auto ID requires a data file for input that contains experimentally measured CMM data points and robot joint values at those points.

This information can be saved in either a Microsoft Excel spreadsheet file, or a tab-delimited text file.

See Also
Robot Signature Calibration

The calibration procedure consists of selecting:

  • a robot device
  • a device representing the co-ordinate measurement system (CMS) in the workcell
  • a path of tag points

The path of tag points represents the tool tip positions in moving to the measurement points as located by the external CMS. These tag points must be obtained from a real workcell setup and given as input (in the form of a data file) for signature calibration. These tag positions are read from the file are generated in Robot Programming by creating a tag group attached to the CMS. If the CMS can measure the tool tip orientation, then the tag points of this path are significant in position as well as orientation.

Data file format

The first line of the file can contain column headers, but this is optional. If the first row contains numeric data values, it is assumed that there is no header. Column headers are not used by Auto ID.

Each remaining line contains the point measured by the CMM and the joint values of the robot at that point, as described in the table below.

ColumnDescriptionUnitsNote
1Tag namen/aused for the name of this data point
2Xmmas measured by the CMM
3Ymmas measured by the CMM
4Zmmas measured by the CMM
5Rolldegas measured by the CMM
6Pitchdegas measured by the CMM
7Yawdegas measured by the CMM
8-endJoint valuesdeg or mmJoint values of the robot, starting with Joint 1. Angular joints in degrees, linear joints in mm.