ABB FlexLoader SC 6000, Руководство по эксплуатации продукта, Страница: 62 / 284

The calibration tool is predefined as tCalibTool1 (if calibration tool is gripped in
gripper 1), or tCalibTool2 (if calibration tool is gripped in gripper 2). For gripper
notation, check the marking on the gripper unit.
xx1900000365
Figure 4.2: Calibration tool fitted to the gripper.
Prior to the actual calibration, check the accuracy of the calibration tool by
appropriate means, e.g. by reorienting with respect to a well-defined position. This
can be done by reorienting the robot calibration tool around a sharp tip. If necessary,
redefine the tool definition for the calibration tool.
Tip
Follow the guidelines for calibration tools and work objects as described in the
robot manuals.
General work object considerations
Some standard work objects in the FlexLoader SC 6000 actively use both user
frame and object frame. When doing standard 3-point calibration, the operator
must calibrate by means of the user method. The object frame is used internally
in order to move work objects to specific points of interest.
Calibration aiding procedures
All of the work objects below shall be calibrated by standard 3-point work object
calibration. Some of them can use a point-of-interest, where parametrized movement
routines will perform their work.
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62 Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
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4 Commissioning
4.4.2 Calibration of the coordinate systems
Continued