Calibrating Indexed Work Area - ABB PickMaster Twin - PowerPac Applications Manual

4 Working with PickMaster PowerPac

4.3.6 Calibrating indexed work area

4.3.6 Calibrating indexed work area
Introduction
For indexed work areas a work object calibration must be performed. The work
object calibration gives a reference point for the robot when picking or placing
sensor detected objects at the work area.
Preparations for calibrating the indexed work area
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• Prepare a calibration tool that can be mounted temporarily on the robot. The
calibration tool shall have a pointed TCP. Measure the TCP offset accurately.
• Create a tooldata for the calibration tool in the rapid program for the robot.
Update the TCP offset with the measured values. In the FlexPendant Jogging
Window, select the tooldata for the robot.
• Calibrate the camera, see
the camera, keep the camera calibration pattern attached to the conveyor.
• Make sure the reference x- and y-axes for work object calibration is marked
accurately on the indexed work area. Three reference points are needed for
the calibration: two points on the x-axis and one point on the y-axis.
- If a camera is used, the reference x- and y-axes should be marked with
respect to the local origin of the camera view. If the camera just has
been calibrated, the local origin is marked by the camera calibration
pattern attached to the indexed work area.
- If a position generator I/O signal is used to generate predefined
positions, the reference x- and y-axes should be marked at the desired
location for the local origin where items or containers are to be
generated.
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Calibrating camera on page
Application manual - PickMaster® Twin - PowerPac
234. After calibrating
3HAC064218-001 Revision: B