ABB PickMaster Twin - PowerPac Applications Manual page 237

Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
3 In the Settings part, adjust the grid pitch if the squares on the printed
calibration paper differs from 10.0 mm. Enter an appropriate name for the
calibration.
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Tip
Using precise measurements improves accuracy. A good way to get a
more precise measurement of the grid pitch is to measure for example 10
tiles and calculate the average size.
4 In the Image part, click Live to get and show new images continuously, or
click Acquire to get one new image. To use an image from file or save the
current image, click Import or Export.
5 For single-view calibration: When the calibration plate is in position, acquire
an image and click Set Origin in the Calibration images part. This stores
the image and marks it as the origin image (the origin of this image will be
the physical origin of the camera's coordinate system).
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6 For multi-view calibration: When calibrating a camera with multiple images
it is important that the origin image is still in place after finishing the camera
calibration. This is because the origin image is used to define the coordinate
system of the robot.
There are two ways of achieving this. One way is to acquire additional views
first (click Acquire and Add) and acquire the origin image last (click Acquire
and Set origin), leaving the calibration plate in the correct place for calibration
of the work object/base frame.
The other way is to use two calibration plates with the exact same grid pitch.
Put one calibration plate in the position to represent the origin of the camera.
Acquire an image and click Set origin. Leave this plate in place while
acquiring images of the second calibration plate at different angles and
altitudes and click Add to save them to the list.
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4 Working with PickMaster PowerPac
4.3.8 Calibrating camera
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