If the estimated error is not ok, this base frame must be re-calibrated:
• Move the conveyor belt backward until the reference point is just inside
the working range of the robot. Repeat the steps 10-13 for all the points
Point1, Point 2, Point 3, and Point 4.
• If the conveyor belt cannot be moved backward, start over from step
1.
17 If there are more robots to calibrate along the conveyor, continue from step
3.
18 Restart the controllers to activate the new base frames.
Application manual - PickMaster® Twin - PowerPac 193
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.3.4.3 Defining the base frame (IRC5)
Continued
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