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.
Before proceeding, please make sure that you have set up Standard Interface communication with the robot. |
Select the Calibration Program
On the teach pendant, select
, and locate 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
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Tap
. -
Select MM_Calibration, and then press on OK.
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Press the
key on the teach pendant to run the program until the PP moves to line 17.
Proceed to the next section when the following are displayed:
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On the teach pendant:
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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
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In Mech-Vision, click Camera Calibration (Standard) on the toolbar, or select
from the menu bar. -
Follow the instructions based on different camera mounting methods to complete the configuration.
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If the camera is mounted in the eye-to-hand mode, please refer to Complete Automatic Calibration in the Eye to Hand Scenario.
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If the camera is mounted in the eye-in-hand mode, please refer to Complete Automatic Calibration in the Eye in Hand Scenario.
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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 the calibration program on the teach pendant again, and restart the calibration process in Mech-Vision. |