ABB FlexMT Product Manual page 70

3 Commissioning
3.5.2 Calibration of coordinate systems
Continued
Call the routine CalibMainChuck and follow instructions. On request, a cylindrical
part must be gripped with the main chuck. Position the robot so that this part can
be gripped by the machine tool chuck gripper, precisely centered. Confirm to the
calibration routine. From the current robot position, the object frame of
wMainChuckM1 is now moved to be located exactly in the main chucks center.
Call the routine CalibSubChuck and follow instructions. On request, a cylindrical
part must be gripped with the sub chuck. Position the robot so that this part can
be gripped by the machine tool chuck gripper, precisely centered. Confirm to the
calibration routine. From the current robot position, the object frame of
wSubChuckM1 is now moved to be located exactly in the main chucks center.
If the chucks are movable, the calibration must be checked, so that the z-axis in
wMainChuckM1 and wSubChuckM1 is in line with actual chuck movement (even
for long movements).
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3HAC051768-001 Revision: -