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Robot data
SPACE_TO_EDGE
FEEDER_MAX_HEIGHT
MIN_RAW_DETAIL_DIAMETER
Y_DISTANCE_TO_LEAVE
MAX_LEAVE_ANGLE_OFFSET
xx1800000319
Compensation of load-induced deviations
Close to loading position, put a reasonable additional weight on the gripper and
measure the load induced lowering of the robot arm.
Robot data
nLoadCompensateDistance
nLoadCompensate
Gripper
The following gripper is used in a FlexLoader Vision Lite system:
Robot data
tCalibTool1
tCalibTool2
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
Calibration gripper that attaches to gripper 1.
Calibration gripper that attaches to gripper 2.
© Copyright 2014-2018 ABB. All rights reserved.
14 FlexLoader Vision Lite
Description
Minimum distance between belt edge and
detail.
Maximum height of details that are placed or
stacked on the outconveyor.
Minimum permitted detail diameter.
Distance from outconveyor motor shaft to
actual leave position.
The angle the robot leaves the part on the
detail on the outconveyors right side. At the
left side the angle offset is always zero. Set
this value to 0 for no angle change.
Description
Load induced lowering of the robot arm, in
mm.
Load that was used for measuring nLoadCom-
pensateDistance
Continues on next page
14.4.1 Robot
Continued
239
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