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13 Robot integration
13.2 Calibrating the robot
Continued
Calibrating for use with a 3D camera
When calibrating the robot for use with a 3D camera you need the calibration tool
and a calibration cone. An example of such tool is shown in the image below.
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Figure 13.3:
The robot operator must first calibrate the coordinate system wCamera1 (if the 3D
camera is camera 1). A suitable positioning is for example on the pallet guides (if
a pallet is used). The z axis should be pointing upwards and the x axis should be
aligned with the long side of the pallet. See the previous section for help with
defining and saving the work object.
The RAPID module Calibration3D.sys includes robot demo code that supports the
calibration process. There are 15 recommended positions defined. Fit and activate
the calibration cone as a tool with the tool center point (TCP) at the top of the cone.
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5 Tap OK to confirm the next message about replacing the file.
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6 The calibration file has now been saved and the system is ready to start
working with the current camera.
Note
Before starting the calibration, ensure that wCamera1 (if the 3D camera is camera
1) is suitably calibrated in the robot.
© Copyright 2014-2018 ABB. All rights reserved.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
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