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Check the predefined positions and modify them if necessary. They can be placed
in many different ways.
For best results, it is recommended to include as much as possible of the 3D
camera measurement volume used for robot picking. Note that it is possible to add
and delete positions. Change Calibration3DRoutine accordingly so that the robot
moves to the positions to be used.
When FlexLoader Vision requests to start the robot at the time of calibration, the
routine Calibration3DRoutine must be called from the FlexPendant. If all
movements are already tested, the robot can be switched to automatic mode to
simplify the calibration process. The RAPID module contains code that
communicates with FlexLoader Vision and sends all the information needed to
FlexLoader Vision.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Note
The module name Calibration3D must not be changed. Neither may the names
of the communication variables nConeCalibrationAnswer, n3DCalibrateX,
n3DCalibrateY, and n3DCalibrateZ.
© Copyright 2014-2018 ABB. All rights reserved.
13 Robot integration
13.2 Calibrating the robot
Continued
189
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