ABB PickMaster Twin - PowerPac Applications Manual page 204

4 Working with PickMaster PowerPac
4.3.4.4 Defining the base frame (OmniCore)
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12 Modify the selected point (Point 1) by tapping the Modify Position function
key.
xx2100000377
13 Move the conveyor belt forward a distance where the reference point still
can be reached by the robot.
Long and equally spaced distances between the four calibration points (Point
1-4) are preferred since this increases the accuracy of the calibration.
14 Repeat the steps 10-13 for the points Point 2, Point 3, and Point 4.
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B