ABB PickMaster Twin - PowerPac, Applications Manual

Page: 191 / 454

4.3.4.3 Defining the base frame (IRC5)
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 IRC5 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.
Do the following for all the robots having work areas that needs to be
calibrated along the conveyor:
• In the FlexPendant Program Editor , load the program
ppacal.prg
(DSQC 377)/
PrepareCalib.prg
(DSQC 2000 ). If the
robot is a MultiMove robot, load
ppacal.prg
(DSQC 377)/
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Application manual - PickMaster® Twin - PowerPac 191
3HAC064218-001 Revision: B
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4 Working with PickMaster PowerPac
4.3.4.3 Defining the base frame (IRC5)