Commissioning; Robot - ABB FlexLoader Vision Product Manual

14 FlexLoader Vision Lite

14.4.1 Robot

14.4 Commissioning

14.4.1 Robot
Introduction
During commissioning, FlexLoader Vision is commissioned in the normal way,
according to the first part of this manual. In addition to this, the following instructions
should be followed.
FlexLoader Vision Lite assumes a specific geometry and coordinate system in the
robot to work optimally. The FlexLoaderVisionLite.sys module must be adapted
to the actual cell geometry.
The variable names in FlexLoaderVisionLite.sys must not be changed, as
FlexLoader Vision transfers data to these variables.
The section below describes the setup and the necessary settings.
Coordinate systems
The base coordinate system of the robot must be horizontal (not angled), preferably
with either the x or y axis parallel with the front of the lathe.
The following coordinate system is used in a FlexLoader Vision Lite system:
Robot data
wCamera1
wFeederOut
Perform a standard 3-point calibration of wFeederOut. Select the correct calibration
tool, depending on which gripper is holding the calibration tool (Gripper 1:
tCalibTool1; Gripper 2: tCalibTool2).
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Description
Coordinate system for picking from the feeder incon-
veyor, calibrated according to the calibration instruc-
tions for FlexLoader Vision, see
Coordinate system for leaving on outconveyor. The x-
axis is above the shaft of the rotation roller, the y-axis
is at the left belt edge (in the movement direction of
the belt) and the z-axis points upwards.
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
97.