[cotega]

Hi,

We successfully used the Leica Laser Trackers API for automated robot calibration (the input is XYZ 3D data). I would like to know it the API allows to use a Leica AT960 equipped with a T-MAC for 6D data acquisition. 

Thanks,

Gabriel

[Albert]

Yes, RoboDK supports taking 6D measurements using the Leica T-Mac probe. You can take 3D and 6D measurements.

Make sure to select pose measurements (6D) when you start a new calibration project in RoboDK.

[Jon Eguskiza]

Yes, RoboDK supports taking 6D measurements using the Leica T-Mac probe. You can take 3D and 6D measurements.

Make sure to select pose measurements (6D) when you start a new calibration project in RoboDK.

Do you need to command something especial to select the "reflector" that will be the T-MAC?

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Yes, RoboDK supports taking 6D measurements using the Leica T-Mac probe. You can take 3D and 6D measurements.

Make sure to select pose measurements (6D) when you start a new calibration project in RoboDK.

Do you need to command something especial to select the "reflector" that will be the T-MAC?

[Albert]

Yes, you should use the Command button to set the correct target (SETR command). You can see in the log the targets that were found and the default commands are updated accordingly. If you can send us a print screen of the log after connecting to the tracker and the predefined Commands we can help you better.

[MarcoP]

Yes, you should use the Command button to set the correct target (SETR command). You can see in the log the targets that were found and the default commands are updated accordingly. If you can send us a print screen of the log after connecting to the tracker and the predefined Commands we can help you better.

Hello, could you please elaborate the steps on how to get the correct transformation for each target/tool during calibration? We have calibrated each side of the T-Mac individually as a tool for different axis 1 settings. 
Thank you.

[Albert]

After you connect to the tracker you should see some commands when you select the Command button. This allows you to trigger specific commands to the tracker such as specifying the target you want to work with.

   

[MarcoP]

After you connect to the tracker you should see some commands when you select the Command button. This allows you to trigger specific commands to the tracker such as specifying the target you want to work with.

Okay, we found that, but we need to use all 3 Targets of the T-Mac for the full workspace calibration. Therefore the target must switch during calibration. Do i have to do the GETR command for each pose?

[Albert]

Aiming for a specific target depends on the Leica tracker model. You could also reorganize the measurements to take them in order. For example, the default Create Measurements script creates a cycle of measurements as a cycle of 3 targets if you use 3 SMR:
Target 1, Target 2, Target 3, Target 1, Target 2, Target 3, Target 1, etc.

You could export and arrange this list so that you take all Target 1 measurements first, then Target 2 and then Target 3.

However, if you are calibrating the tools and coordinate systems with the robot itself it should be enough to calibrate with only 1 SMR.