ABB FlexMT Product Manual page 68

3 Commissioning
3.5.2 Calibration of coordinate systems
Continued
The grinding and deburring tools are accessed from their own coordinate system
wDeburr. In the pre-configured setup, wDeburr is identical to wAirClean. Standard
3-point calibration.
Statistical outlet wSample
The statistical outlet coordinate system wSample is oriented as follows. Standard
3-point calibration. Afterwards, call the calibration routine CalibSampleOutlet. The
point of interest should be in the center of the sample outlet surface, where the
sensor will detect parts. Note that orientation of the tool is used in pre-configured
movements.
Approximate positioning of wSample in the FlexMT
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3HAC051768-001 Revision: -