ABB PickMaster Twin - PowerPac, Руководство по применению

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4.3.5 Calibrating circular conveyor
Overview
Note
The following calibration process is required when running production and
emulation. Calibration under the simulation tab in PickMaster PowerPac will not
complete the following calibration process.
The calibrations needed for the circular conveyors are camera and work area
calibrations. The work area calibration is a base frame calibration for conveyor
work areas and a work object definition for indexed work areas. The key concept
is to define a coordinate system origin that is the same for a camera and a robot
base frame or work object.
Each camera must be calibrated separately. The base frame calibration is needed
whenever conveyor systems are used.
The camera calibration is stored in the solution so all recipe in that solution could
share the same calibration. If you need to re-calibrate a camera, all recipes in the
solution will be updated with the new calibration.
The camera calibration and the work area calibration can be performed
independently of each other, but it is very hard to make an accurate new camera
calibration after the work area is calibrated.
The work area calibration is stored in the robot controller.
To calibrate the circular conveyor:
1 Define the parameter Counts Per Meter (for conveyors only), see Defining
the parameter Counts Per Meter (DSQC 377) on page 208 , Defining the
parameter Counts Per Meter (DSQC 2000) on page 210 .
Note
In the circular conveyor, the parameter Counts Per Meter indicates counts
per radian.
2 Define the base frame, see Defining the base frame (IRC5) on page 212 .
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Application manual - PickMaster® Twin - PowerPac 207
3HAC064218-001 Revision: B
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4 Working with PickMaster PowerPac
4.3.5 Calibrating circular conveyor