ABB FlexMT, Product Manual, Page: 64 / 246

Calibration tool fitting
The calibration tool shall be placed and gripped in the gripper. The flat surface
must be firmly pressed on the contact points on the adjustable finger base, as
pointed out in the illustration below.
The calibration tool is predefined with name tCalibTool1 (if calibration tool is gripped
in Gripper1), or tCalibTool2 (if calibration tool is gripped in Gripper2). For gripper
notation check marking on the gripper unit.
Calibration tool mounted to the gripper.
Prior to the actual calibration, please check the accuracy of the calibration tool by
appropriate means, e.g. reorientating with respect to a well defined position.
Suitably, this can be done by reorienting the robot around a sharp tip. If necessary,
redefine the tool definition for the calibration tool.
Tip
Follow well established guidelines for calibration tools and work objects as
described in the robot manuals.
Calibration aiding procedures
All of the work objects below shall be calibrated by standard 3-point work object
calibration. Some of them will need a point-of-interest, where parametrized
movement routines will perform their work. In most cases, the tool orientation in
the point-of-interest will be used during later movements. Refer to each work object
for more detailed information.
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64 3HAC051768-001 Revision: -
© Copyright 2014-2014 ABB. All rights reserved.
3 Commissioning
3.5.2 Calibration of coordinate systems
Continued