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4.3.4.4 Defining the base frame (OmniCore)

Introduction

For each conveyor work area on a conveyor, a conveyor base frame calibration

must be performed. The base frame calibration gives a reference point for the robot

when a picking or placing sensor detects objects at the work area.

Preparations

• Define the Counts Per Meter system parameter for each conveyor work

area. For more details, see Defining the parameter Counts Per Meter (DSQC

377) on page 187, Defining the parameter Counts Per Meter (DSQC 2000) on

page 189.

• Prepare a calibration tool that can be mounted temporarily on the robots.

The calibration tool shall have a pointed TCP. Measure the TCP offset

accurately.

• Create a tooldata for the calibration tool in the rapid program for each robot.

Update the TCP offset with the measured values. In the FlexPendant Jogging

Window, select the tooldata for the robot.

• If a camera is used, calibrate the camera, see Calibrating camera on page 234.

After calibrating the camera, keep the camera calibration pattern attached

to the conveyor.

Procedure

Use the following procedure to calibrate all the base frames for a conveyor in the

line with OmniCore controller:

1 Make sure the reference point for calibration is marked accurately on the

conveyor belt.

• If a camera is used, the reference point is the local origin of the camera

view. If the camera has been just calibrated, the reference point is

already marked by the origin of the camera calibration pattern that is

attached to the conveyor.

• If an I/O sensor is used to generate predefined positions, the reference

point should be marked on the conveyor at the point where the objects

are detected by the sensor. This point becomes the local origin of the

detected items or containers.

2 Reset the conveyor (encoder board) positions.

Note

Do not move the conveyor until this step is completely finished.

Continues on next page

194 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.3.4.4 Defining the base frame (OmniCore)

ABB PickMaster Twin - PowerPac User Manual

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