Verifying Conveyor Calibrations - ABB PickMaster Twin - PowerPac Applications Manual

4 Working with PickMaster PowerPac

4.3.7 Verifying conveyor calibrations

4.3.7 Verifying conveyor calibrations
Introduction
The calibration is verified by using a calibration verification paper. The paper has
a model that is taught and used as a bull's eye for the robot to find. The same tool
is used here as for the base frame calibration.
The file with the calibration verification paper is found in the PickMaster package.
To achieve a very good calibration, the camera calibration tune and the base frame
calibration tune steps can be performed more than once. Each time the result
should be closer to the optimal calibration.
Tuning the camera and base frame calibrations
Use this procedure to tune the camera and base frame calibrations.
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Note
The calibration tuning should only be used for small errors. If the error is large
then the line should be recalibrated.
1 Place the calibration verification paper on the conveyor under the camera.
The center column of object should be placed close to the center of the
camera view. Align the paper with the conveyor as accurately as possible.
2 Use one of the objects on the calibration verification paper as model. See
Calibrating camera on page
3 Place the grip position in the center of the model.
4 Examine how the robot is placing the holes to adjust possible errors in the
camera calibration or the base frame calibration.
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B