ABB FlexLoader Vision Product Manual page 238

14 FlexLoader Vision Lite
14.4.1 Robot
Continued
The x-y plane of the coordinate system for a chuck must be at the front edge of
the chuck, with x=0,y=0 at the rotation shaft of the chuck. See diagram.
xx1800000318
Perform a standard 3-point calibration of wMainChuckM1. The calibration tool
must be placed in gripper 1 (tCalibTool1). Gripper 2 should be used for gripping
the detail.
Then call the routine CalibMainChuck in module Calibration.sys and follow the
instructions. On request, a detail must be gripped with the main chuck. Position
the robot so that this detail can be gripped by the robot gripper, precisely centered.
Confirm to the calibration routine. From the current robot position, wMainChuckM1
is moved to be located exactly in the main spindle center.
Perform a standard 3-point calibration of wSubChuckM1. The calibration tool must
be placed in gripper 2 (tCalibTool2). Gripper 2 should be used for gripping the
detail.
Then call the routine CalibSubChuck in module Calibration.sys and follow the
instructions. On request, a detail must be gripped with the sub-chuck. Position the
robot so that this detail can be gripped by the robot gripper, precisely centered.
Confirm to the calibration routine. From the current robot position, wSubChuckM1
is moved to be located exactly in the sub spindle center.
If the sub-spindle is movable, the calibration must be checked, so that the z-axis
in wMainChuckM1 is in line with the robot z-coordinate, even for long movements.
Robot data
wRegrip
wTurnStation
System constants
The FlexLoaderVisionLite.sys module contains some constants that are used to
add details to the outconveyor. All dimensions are in mm.
Robot data
FEEDER_WIDTH
SPACE_BETWEEN_PARTS
Continues on next page
238
Description
Coordinate system for regrip station. Standard 3-point calibra-
tion.
Coordinate system for turning station. Standard 3-point calibra-
tion.
© Copyright 2014-2018 ABB. All rights reserved.
Description
Width of outconveyor.
Space to be left between details on the out-
conveyor.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B