ABB Calibration Program

This topic introduces the process of automatic hand-eye calibration when an ABB robot communicates with Mech-Mind Vision System through Standard Interface.

The process consists of the following steps:

Before proceeding, please make sure that:

Select the Calibration Program

On the teach pendant, select and open the program module MM_Auto_Calib in T_ROB1. Please make sure that the IP address in the program is the same as that of the IPC, and that the port number is set correctly.

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Teach the Calibration Start Point

Move the robot to the start point for the calibration, and then modify this position as P0. Press on Modify in the pop-up window to confirm.

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If the 6-axis robot is installed on a guide rail that is controlled by the robot, please set IsAxis7: =1, and configure the value of Axis7 according to the actual situation, as shown below. If there is no guide rail on site or the guide rail is controlled by a PLC, please skip this step.

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Run the Calibration Program

  1. Press on Debug ‣ PP to Routine.

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  2. Select MM_Calibration, and then press on OK.

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  3. Press the icon_run key on the teach pendant to run the program until the PP moves to line 17.

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Proceed to the next section when the following are displayed:

  • On the teach pendant:

    ../../../../_images/calibration_process8.png
  • In the Console tab of Mech-Vision Log panel: Entering the calibration process, please start the calibration in Mech-Vision.

Complete Calibration in Mech-Vision

  1. In Mech-Vision, click Camera Calibration (Standard) on the toolbar, or select Camera ‣ Camera Calibration ‣ Standard from the menu bar.

  2. Follow the instructions in Mech-Vision to complete the configuration.

Note

If the robot does not reach the next calibration point within 60 seconds, Mech-Vision will report a timeout error and stop the calibration process. In such cases, please select and run MM_Auto_Calib on the teach pendant again, and restart the calibration process in Mech-Vision.