ABB FlexMT Product Manual page 65

If a point-of-interest is defined, FlexMT supplies a calibration routine that assists
the operator in doing the calibration. All calibration aiding procedures have the
same appearance. The operator confirms calibration of the selected point-of-interest,
selects which calibration tool is used, follows the instruction on where and how to
point the calibration tool, and confirms the current position.
The following coordinate systems shall be redefined (if the corresponding option
is present on the FlexMT). The position of the calibration points can be found in
the images below.
Camera coordinate system wCamera
Coordinate system for picking from inconveyor. Follow the calibration instructions
in the PickMT manual. Standard 3-point calibration.
Approximate positioning of wCamera in the FlexMT
3HAC051768-001 Revision: -
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3 Commissioning
3.5.2 Calibration of coordinate systems
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