Warning

You are reading the documentation for an older Pickit release (2.3). Documentation for the latest release (3.4) can be found here.

ABB calibration program

This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the ABB installation and setup article.

Before following the ABB specific instructions in this article, make sure you first understand the process of executing a robot-camera calibration as explained on Calibration.

Note

If you want to perform calibration once or infrequently, you don’t need to use this example program. You can teach the calibration poses manually using the pendant and the Collect current pose in the calibration wizard of the Pickit web interface.

Example program: MultiPoseCalibration

This example program can be found as a routine in the Pickit_calibration module. Go to Program Editor > Modules > Pickit_calibration > MultiPoseCalibration().

PROC MultiPoseCalibration()
     !
     MoveToCalPoint pCalibration1;
     WaitTime 0.5;
     pickit_find_calib_plate;
     !
     MoveToCalPoint pCalibration2;
     WaitTime 0.5;
     pickit_find_calib_plate;
     !
     MoveToCalPoint pCalibration3;
     WaitTime 0.5;
     pickit_find_calib_plate;
     !
     MoveToCalPoint pCalibration4;
     WaitTime 0.5;
     pickit_find_calib_plate;
     !
     MoveToCalPoint pCalibration5;
     WaitTime 0.5;
     pickit_find_calib_plate;
     !
     Stop;
 ENDPROC

Teach calibration points

The calibration program requires five points to be defined. For more information on how to define these points, see the article on Multi poses calibration.

The function MoveToCalPoint is a helper function defined by Pickit. This will throw an error if one of the calibration points is not yet defined by the user.

Execute the calibration program

Before running the calibration program, make sure that the Pickit web interface is in the Calibration page, which provides feedback on calibration plate visibility and progress of the calibration process (more).

Note

By default the robot flange (tool0) and the robot base (wobj0) are used to move to these points.

Calibration with ABB YuMi

Please make sure that you are using the right hand of the robot to do the calibration process. All steps mentioned above are still valid.