To Next Page

To Previous Page

4.3.5.3 Defining the base frame (IRC5)

Introduction

For each conveyor work area on a circular 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.

xx1900000592

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 208, Defining the parameter Counts Per Meter (DSQC 2000) on

page 210.

• 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.

Recommendation

This section describes how to use TCP measurements and RAPID programs to

calculate the conveyor base frame position and quaternion for a circular conveyor.

This method uses three measured points on the circular conveyor to calculate the

center of rotation. The three points should be spaced as far apart as possible

around the periphery.

Continues on next page

212 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.3.5.3 Defining the base frame (IRC5)

ABB PickMaster Twin - PowerPac User Manual

Questions and Answers: