# Teaching High Accuracy Plane Features **URL:** \ **Category:** Technical Questions\ **Created:** [November 21, 2024, 10:07pm UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115 "2024-11-21T22:07:50Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![ph12](https://avatars.discourse-cdn.com/v4/letter/p/f6c823/32.png) [@ph12](https://forum.universal-robots.com/u/ph12)\ **Post date:** [November 21, 2024, 10:07pm UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115/1 "2024-11-21T22:07:50Z")
I am looking for help teaching an arbitrarily angled plate as a feature plane for my UR5e with high accuracy. I am working on integrating a Cognex vision system on a pick and place and have to use a calibration grid on my angled parts plate. To teach the robot to this grid, I use a point end effector (screw in a plate) and teach the plane using the feature creation installation tab. I can tell just by teaching the TCP and the plane that these are not exact. Anybody have experience teaching feature planes with exact origins and axes with their robot. Thank you! ---
**Author:** ![robotiqu](https://avatars.discourse-cdn.com/v4/letter/r/da6949/32.png) [@robotiqu](https://forum.universal-robots.com/u/robotiqu)\ **Post date:** [November 25, 2024, 10:16am UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115/2 "2024-11-25T10:16:53Z")
What kind of resolution are you looking for? ---
**Author:** ![ph12](https://avatars.discourse-cdn.com/v4/letter/p/f6c823/32.png) [@ph12](https://forum.universal-robots.com/u/ph12)\ **Post date:** [November 25, 2024, 4:54pm UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115/3 "2024-11-25T16:54:58Z")
The resolution on the camera is 5320x3032. In terms of placement accuracy as close as possible. Ideally +/- 100um in x and y. +/-250um may be acceptable. ---
**Author:** ![robotiqu](https://avatars.discourse-cdn.com/v4/letter/r/da6949/32.png) [@robotiqu](https://forum.universal-robots.com/u/robotiqu)\ **Post date:** [November 26, 2024, 8:09am UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115/4 "2024-11-26T08:09:15Z")
I have never tried this kind of precision. Is there a way to have a mechanical aid/guide for placement to allow for less strict location? You can also try to edit and refine the plan manually. ---
**Author:** ![forbech](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/forbech/32/902_2.png) [@forbech](https://forum.universal-robots.com/u/forbech)\ **Post date:** [November 26, 2024, 8:51am UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115/5 "2024-11-26T08:51:48Z")
I working on a position calibrating system for mobile robots. It can align to a arbitrarily angled plate with a repeatability of less than 0.1 mm (x,y,z) and less than 0.3 mRad (Rx,Ry,Rz) More info and video here: > **[Selfie Aligner](https://www.toolchanger.eu/selfie-info/SelfieAligner.htm)** > > Tool for aligning by 4TECH Robotics ApS ---
**Author:** ![forbech](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/forbech/32/902_2.png) [@forbech](https://forum.universal-robots.com/u/forbech)\ **Post date:** [January 1, 2025, 6:16pm UTC](https://forum.universal-robots.com/t/teaching-high-accuracy-plane-features/37115/7 "2025-01-01T18:16:03Z")
The camera-TCP must be set with an accuracy that matches the accuracy you want for the plane. This high accuracy Eye-Hand calibration must be performed before you have a chance to align your robot to the plate. The Selfie Aligner comes with a new feature to automatically perform Eye-Hand calibration.