ABB PickMaster Twin - PowerPac Applications Manual page 219

Procedure(IRC5)
Procedure(OmniCore)
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
1 Select the work object to be calibrated.
• In the FlexPendant Program Editor, load the program
ppacal.prg(DSQC 377)/ PrepareCalib.prg(DSQC 2000 ). If the
robot is a MultiMove robot, load ppacal.prg(DSQC 377)/
PrepareCalib.prg(DSQC 2000 ) for this robot task (for example,
T_ROB1), and select only this task for execution.
• Start the loaded rapid program
- Select calibration type: Fixed/Indexed.
- Select work object: For example, IdxWobj1.
- Wait for the message DEFINE CURRENT WORKOBJECT.
Do not move the program pointer until the calibration has been
completed. Otherwise, the calibration is not properly saved.
2 In the FlexPendant Jogging window, tap and select Workobject. Then tap
Edit and select Define.
3 Select Object method: No Change. Select User method: 3 points.
4 Select User Point X 1. Point out a point on the x-axis close to the origin with
the robot's TCP. Press Modify Position.
5 Select User Point X 2. Move the TCP a distance in the direction the x-axis.
Point out a point on the x-axis with the robot's TCP. Press Modify Position.
6 Select User Point Y 1. Point out a point on the positive y-axis with the robot's
TCP. Press Modify Position.
7 Tap OK.
8 Restart the RAPID program (without moving the PP) to save the selected
work object definition.
The definition is saved in the rapid data array NonCnvWOData located in the
ppaUser system module.
1 Make sure the reference point for calibration is marked accurately on the
conveyor belt.
• If a camera is used, the reference point is the local origin of the camera
view. If the camera has been just calibrated, the reference point is
already marked by the origin of the camera calibration pattern that is
attached to the conveyor.
• If an I/O sensor is used to generate predefined positions, the reference
point should be marked on the conveyor at the point where the objects
are detected by the sensor. This point becomes the local origin of the
detected items or containers.
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.3.6 Calibrating indexed work area
Note
Continued
Continues on next page
219