ABB FlexLoader Vision Product Manual page 49

This lets you choose the size of the adjustment to be made. The currently selected
step size is marked with a tick to the left.
You can also choose which coordinate system to use for movement; the image
coordinate system or tool coordinate system. If the image coordinate system is
chosen, movement will always be directly related to the directions of the arrows.
If the tool coordinate system is chosen, movement will be in relation to the current
rotation of the tool.
The current setting applies to all adjustments available under the tab.
The rotation x, rotation y and rotation z settings control the rotation of the robot
when gripping or handling the position. When you adjust rotation z, the adjustment
is illustrated graphically in the image. When you adjust rotation x and rotation y,
you have to do a gripping test to see how the setting works in reality.
Note that the gripper rotation during blob searches is not unequivocally determined,
but can be rotated 180 degrees.
Height settings
The edge height must be specified for each position. The edge height is the
difference in height between the visible edges and the calibration plate. The visible
edges are those edges that are marked with red lines in the image.
xx1800001043
Pos.
A
B
The Edge height value directly affects the positioning accuracy during gripping
and handling of the position. It is therefore very important that the height is correctly
set in the system.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
Edges
Edge height
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4 Teachin
4.8 Grip
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