1 Calibration by relative known positions
Contents
1. AM The window the left shows the program tree V Movel Use the Next and Previous buttons to navigate through T pid the program tree pick Use the Structure tab to modify the program tree Set DO O0 2O0n Wait 0 1 4 F MoveL a To Pick e W Move a To Place F MoveL 8 Place Set 00 0 0 Wait 0 1 F MoveL a To Place Add BeforeStart Sequence 4 LJ Set sriable Values L5 Goma PAD spees B o Figure 2 17 Test the program before overwrite the old program 16 Save the program when the program is tested and works as intended 17 Correct other programs by repeating from step 12 Note that the key waypoints are stored across programs thus helping other programs to be corrected 13 2 Program correction by key waypoints 14 A Calibration board A Calibration board Plade dimensioner 800x800x12 mm 640mm 500mm 300mm Tegning 31 320 08 160mm 63 mm 3mm 63mm 63mm 63mm 63 mm 63mm 63mm 63mm 63mm gt i 415 mm 640mm 7 775mm 300mm 7 500mm Figure A 1 Drawing of the calibration board used for calibrating the robot by the known point on surface method 15 B Robot Parameter B Robot Parameter 1 URS The robots kinematic transformations for each link are given by Denavite Hartenberg parameters The parame ters for 5 is displayed in tabel B 1 to B 32. MoveL 3 Place 3 Place 3 Action DO 0 C set Do 0 0 3 wait 0 1 3 wait 0 1 MoveL Old joint angles p c MoveL Move to old 3 To Place 88 84 105 16 143 28 22 96 91 46 1 09 3 To Place New joint angles Move to new 89 11 113 63 127 63 30 15 91 46 0 83 Corresponding Tool Position CTP Change CTP 0 0 0 0 0 01 mm 1 1 2 1 EE Reset New configuration 1 Reset Add program 4 lt gt MESSEN Figure 2 10 Multiple programs can be added byse Figure 2 11 Add an additional program by press lecting the root of the program tree and repeat from program and repeat from step 3 step 2 5 2 4 Handle key waypoints An overview of the redefined key waypoints is showed in the Overview tab see figure 2 12 The key waypoints are grouped by the source robot relationship to this robot and installation Each key waypoint is marked with its name and the program it is coming from as shown in figure 2 12 and 2 13 It is possible to delete key waypoints from the database by selecting a waypoint or a group of waypoints and press Delete File 11 32 57 File 11 32 02 Program Installation Calibration Move 1 0 Log Program Installation Calibration M
3. 0 O O O 0 delta d 0 0 0 0 0 0 delta alpha 0 0 0 0 O 0 delta theta 0 0 0 0 0 0 encoder sin excentricity 0 0 0 0 O 0 encoder cos excentricity 0 0 0 0 O 0 part d calib voltage low speed front 0 0 O O O 0 part d calib voltage low speed back 0 0 O 0 O 0 part d calib voltage high speed front 0 0 O O O 0 part d calib voltage high speed back 0 0 O O O 0 part d calib current low speed front 0 0 O O O 0 part d calib current low speed back 0 0 0 O O 0 part d calib current high speed front 0 0 O O O 0 part 4 calib current high speed back 0 0 O O O 0 joint checksum 0 0 0 O O 0 calibration status O notInitialized 1 notLinearised 2 Linearised Listing 1 2 calibration conf file filled with zeros 2 Program correction by key waypoints 2 Program correction by key waypoints This step by step tutorial user manual describes how to correct a program from one uncalibrated robot to another by redefine key waypoints from saved programs Either if a single joint or a whole robot has been replaced Correction Figure 2 1 Illsutration of the correction The function exists on the Universal Robot controllers from software version 1 7 2 1 Introduction With properly selected and redefined key waypoints it is possible to make a model which describes the difference between the old and the n
4. Change CTP OK 9 This completes redefining the pick key waypoints Continue by repeating step 4 to 8 until all key waypoints are redefined 10 2 Program correction by key waypoints 2 3 2 Waypoints from multiple programs It is possible to add key waypoints from multiple programs This is done by adding additional programs and afterwards select and redefine as previously described in step 2 5 to 9 10 If the key waypoints are distributed over multiple programs select the root node of the program tree and repeat from step 3 see figure 2 10 11 Add an additional program by press Add program as in step 3 and repeat from step 2 5 see figure 2 11 File 14 56 07 File 10 16 28 Program Installation Calibration Move I O Log Program Installation Calibration Move Log Program correctio gt Setup Overview i Program correctio Setup Overview C3P PickPlace E3 MoveJ 1 0 ortant Waypoint pick E53 MoveJ This Robot Add a program to define key waypoints D To Pick D To Pick Serial Number 2000200114 C MoveL C MoveL Checksum 0x86d77ca0 3 pick 3 pick 3 Action DO 0 3 set Do 0 O 3 wait 0 1 3 wait 0 1 MoveL C MoveL 3 To Pick 3 To Pick E c Moves 3 To Place 3 To Place MoveL
5. Installation Calibration Move Log 3 Program correctio Setup Overview 3 Program correctio Setup Overview E3P PickPlace This Robot Add a program to define key waypoints MoveJ This Robot Add a program to define key waypoints Serial Number 2000200114 D To Pick Serial Number 2000200114 Checksum 0x86d77ca0 4 Checksum 0x86d77ca0 JOLO c MoveJ 3 To Place E MoveL 3 Place 3 set Do 0 0O 3 wait 0 1 MoveL 3 To Place 0 T 1 E Reset 3 CI Add program s T Reset Add program So Sl M Figure 2 4 Select Add program to import a pro Figure 2 5 Select one of the key waypoints In this gram case waypoint named pick 5 Select New configuration to redefine the configuration for the selected waypoint as seen in figure 2 6 6 Move the robot to the new position and press OK see figure 2 7 File 10 16 47 File 10 18 19 Program Installation Calibration Move VO Log Program installation Calibration Move Log Program correctio Setup Overview Move Tool Robot Feature CI P PickPlace 68066 View lv MoveJ Important Waypoint pick 3 To Pick Tool Position MoveL x 95 61 mm pick C set Do 0 O0 amp Y 443
6. Joint 1 0 08920 Joint 2 2045500 0 Joint 3 0 39243 0 Joint 4 0 10900 Joint 5 0 09300 Joint 6 0 08200 Joint 1 Joint 2 2045500 0 Joint 3 0 39225 0 Joint 4 0 11000 Joint 5 0 09475 Joint 6 0 08250 Joint 1 0 089159 Joint 2 pm 0 Joint 3 0 39225 0 Joint 4 0 10915 Joint 5 0 09465 Joint 6 0 08230 eina Table B 3 Denavit Hartenberg parameters for the UR5 serie 3 B 2 URIO Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Table B 4 Denavit Hartenberg parameters for the UR10 robot serie 1 16
7. get access to the functionality File 14 35 39 Program Installation Calibration Joint Robot replacement Program correction by key waypoints Move 140 Log Method for correcting programs after joint or robot replacement Kinematics calibration 1 In the Calibration tab load program s with key waypoints 2 Select and redefine key waypoints 3 When programs are loaded they will be corrected 4 Test the corrected program The accuracy can be improved by adding aditional key waypoints Linearising the robot by known positons on plates Kinematics calibration refines the relation between joint angles and XYZ coordinates By calibrating the kinematics the accuracy and linearity of the robot can be improved Load an existing calibration Figure 2 3 Select waypoints Program correction by key 2 Program correction by key waypoints 2 3 Redefine key waypoints The program used in this tutorial is a simple pick and place program with two key waypoints the waypoint for the pick and place positions 3 The chosen program can now be loaded by press Add program see figure 2 4 4 Select one of the decided key waypoints in the program The waypoint called pick is selected in figure 2 5 File 10 16 14 File 10 16 28 Program Installation Calibration Move Log Program
8. of holes can be used The holes are used to fixated the tool to a known position on the selected plate Therefore add a plate to start adding positions 3 Add the first plate for the positions 4 Add the first position to the selected plate by pressing Add new position File 12 23 48 File 12 24 01 Program Installation Calibration Move I O l Log Program Installation Calibration Move 10 Log Positions Setup Calibration Parameter overview A E Positions Setup Calibration Parameter overview 3 Plates Calibration levels 5 plate 0 Add positions on a plane to calibrate the robot kinematics parameters Select only the necessary levels Offset angles The consequences of selecting too many or unnessesary cases can be resulting in a wrong Partially calibration The selected method need more than 0 positions to be measured 0 measurements for the robot 6 measurements for each plate 2096 extra for verification el D Remove Calibration 3 Add plate si Uu Remove this plane 4 Add new position lt gt lt gt Figure 1 4 Add a plate for the hole positions Figure 1 5 Select Add new positions to add a posi tion to the selected plate 5 Insert the x y z coordinate relative to the plate for the position see figu
9. see section 2 on page 7 b Linearising the robot Calibrate the robot by known positions on plates Press this button to begin the calibration proce dure 1 Calibration by relative known positions c Load an existing calibration Makes it possible to load a previously saved calibration File 14 35 39 Program Installation Calibration Move 1 0 Log PolyScope Expert Mode Joint Robot replacement Please select Program 1 M 2 comeding programs after joint or robot by key waypoints A Expert Mode in the Calibration tab load program s with key waypoints EDIT Text File 2 Select and redefine key waypoints 3 When programs are loaded they will be corrected 4 Test the corrected program The accuracy can be improved by adding aditional about key waypoints Low Level Control Kinematics calibration 1 Kinematics Calibration Return to Normal Linearising the robot b calibration refines the relation between joint by known positons on plates 2 XYZ coordinates By calibrating the kinematics y and linearity of the robot can be improved Load an existing calibration 2C Figure 1 2 Select Kinematics Calibration in Ex Figure 1 3 Select Linearising the robot to select pert Mode to get access to the calibration function this method ality 1 4 Measure the holes Multiple metal plates with a number
10. 1 6 2 Debug To pinpoint the source for the maximum error each positions residual error contribution is displayed in each positions property screen see figure 1 6 15 Ifthe evaluation did not succeed The defined positions needs to be examine that the correct coordinate is given for the learned robot configuration 16 If the configuration used is too monotonous can also result in a unsuccessful calibration To fix this additional positions needs to be added 1 6 3 Apply the calibration When a satisfied calibration has been obtained it is recommended to try the new parameters before they are stored permanently 17 Try the new calibration without saving them as the default by press Use Calibration see figure 1 11 The current default kinematics can be reloaded with the Reload default This button is not a load factory default button So please be aware of the quality of the calibration before applying them as permanently 18 The found parameters can be viewed in the Parameter overview tab see figure 1 12 19 Save the calibration for future use by pressing Save as default see figure 1 11 20 The Robot is know calibrated 1 7 Reset calibration The calibration can manually be adjusted or reset by editing the root urcontrol calibration conf file placed together with the other configurations To reset the calibration all decimal and hex numbers is reset to zero like the file listing 1 2 mounting delta a 0
11. 16 1Pos 16 Pos 17 3Pos 17 Pos 18 1Pos 18 Pos 19 1Pos 19 3Pos 20 3Pos 20 u is Remove Calibration Add plate u 0 P X Mans Figure 1 9 Select the top of the tree item on the left Figure 1 10 Select the calibration tab and press to be able to select the level of calibration Make Calibration to start the calibration 1 Calibration by relative known positions 1 6 Evaluation 14 After the calibration has been performed the results needs to be evaluated to ensure that the calibration ended successfully The results from the calibration are the parameters displayed in the Parameter overview tab and the calculated statistics of the archived precision for the given positions The last part is displayed lower part of figure 1 11 and is used to evaluate the calibration The calculated statistics is divided into to groups Statistics for positions used in the calibration called Measurement data and Statistics for positions reserved for only the evaluation called Evaluation data and shall be used to control the calibration results File 13 33 24 File 13 33 33 Program Installation Calibration Move 1 0 Log Program Installation Calibr Move 25 e Positions Setup Calibration Parameter overv
12. 45 mm 3 wait 0 1 z 453 80 mm MoveL 3 To Pick V fUr C3MoveJ RY 3 1163 3 To Place P C MoveL RZ 0 0389 3 Place Move Joints C set Do 0 0 3 wait 0 1 MoveL 19 a Base 33 To Place Shoulder H Wrist 1 I I wrist 2 E 3 wrist Emp 3 Teach Old joint angles 88 84 105 16 143 28 22 96 91 46 1 09 Move to old hd il gt Reset 5 New configuration lt gt G Simulation 68 5 o Real Robot Speed 100 Figure 2 6 Select New configuration to redefine Figure 2 7 Move the robot to the position and press the configuration for this waypoint OK 2 Program correction by key waypoints 2 3 1 Corresponding Tool Position To help the method it is important to adjust the Corresponding Tool Position to the offset that is visually used for the comparison during the redefining of the waypoint The CTP can be defined individual for each key waypoint and improve the method s accuracy As default is the tool center point from the programs installation used Typically CTP locations e At the tools center point when the robot are going to grasp an object e End of the object when the object is going to be placed 7 Specify the Corresponding Tool Position by press Change CTP see figure 2
13. 623 rot rad 0 00212999 StdDev pos m 0 000221324 0 00023433 0 000267463 rot rad 0 00274118 Max pos m 0 000405676 0 000459457 0 000443527 rot rad 0 00568077 Q range 10 4986 1 73156 4 66844 4 85263 3 14473 0 479093 Listing 1 1 Example of printed statistics for a partially calibration Explanation of line number 1 This line is used to indicate that the calibration is running Not important 2 The used iterations finding the solution Not important 3 The sum ofthe calibrations residual error Not important for the normal user 4 to8isthe statics for the positions used in the calibrate In this case is the calibration based 20 positions 9 to 13 is the statics for the positions reserved for evaluation only In this case 6 positions If there is a big differentce between the results of the evaluation and the measurement data the calibration did not succeed and the positions needs to be verified 5 and 10 shows the mean error First with position error as a vector x y z follow by the rotation error 1 Calibration by relative known positions 6 and 11 shows the standard deviation of the error formatted like the mean error 7 and 12 shows the maximum error in the data formatted like the mean error 8 and 13 are the range of the used robot configuration The range can give an indication of how well the configuration are distributed The printed statistics is also saved in calibration log file
14. 8 8 Change the CTP coordinates and press OK see figure 2 9 File 14 56 07 File 10 24 14 Program Installation Calibration Move Log Program Installation Calibration Move Log r3 Program correctio Setup Overview C Program correctio Setup Overview MoveJ Important Waypoint pick MoveJ Setting the Corresponding Tool Position D To Pick D To Pick CTP Coordinates cI MoveL c3 C prn x 0 0 mm pick pick Action DO 0 5 Set DO 0 O d E Wait 0 1 Wait 0 1 MoveL 5 MoveL N 0 0 mm 3 To Pick 3 To Pick Moves Moves 3 To Place 3 To Place z 0 3 o C MoveL c MoveL 3 Place 3 Place 3 Action DO 0 3 set Do 0 O 3 wait 0 1 3 wait 0 1 E MoveL Old joint angles 1 MoveL Move to old 3 To Place 88 84 105 16 143 28 22 96 91 46 1 09 3 To Place New joint angles Move to new 89 11 113 63 127 63 30 15 91 46 0 83 raa Corresponding Tool Position CTP Fi 0 0 0 0 0 01 mm 1 LI Reset New configuration S aL lt gt lt gt Figure 2 8 Change the Corresponding Tool Position Figure 2 9 Change the CTP coordinates and press by press
15. 92 0 0003 4452 rot rad 0 00428108 3Pos 17 18 osim 0 000515829 0 000596208 0 00085403 rei ad 0 00936465 Pos 18 95 ange 10 3565 2 10385 4 97534 4 41247 6 28554 0 478752 98 ev ation data 6 e D Pos 19 2 0 00587736 m Mean 0 00017 111 0 000137075 0 000210556 ad 0 00213003 n pos ml 0 000221678 0 000233555 0 000267351 rot rad 0 00274123 Pos_20 X i 41 pos m 0 000405623 0 000458999 0 000443508 rotir ad 0 00568086 4 i Q range Pio 4986 1 73156 4 66844 4 85263 3 14473 0 479093 gt Reload parameters ETT lt gt Figure 1 11 Then the calibration is done the result Figure 1 12 By the Parameter overview the param needs to be evaluated it is afterwards possible to try eter for the calibration can be inspected the new parameters and apply them to the robot 1 6 1 Explanation of the printed statistics An example of the printed statistics THEHHHHBHHBHHBH Is 118 m 0 000292995 Measurement data 20 error Mean pos m 0 000175164 0 000134324 0 00027655 rot rad 0 00348157 StdDev pos m 0 000218127 0 000201774 0 000344546 rot rad 0 00428109 Max pos m 0 000518104 0 000596791 0 000853992 rot rad 0 00936474 Q range 10 3565 2 10395 4 97534 4 41847 6 28554 0 478753 Evaluation data 6 error Mean pos m 0 000171146 0 00019818 0 000210
16. Figure 1 6 The property screen for the selected posi tion Insert the x y z coordinate teach the related robot configuration The screen has also a button to add additional positions The configuration used in the calibration needs to be as distributed as possible on the plate but also in the configuration space of the robot Ensure that all the combinations of both elbow and wrist up and down solutions are used see figure 1 8 It is recommended that a full calibration at least includes 30 positions on each plate To add additional plate select the top of the tree item Positions on the left and repeat the steps from 3 Figure 1 8 Configuration need to be used 1 Calibration by relative known positions 1 5 Calibration Now all the needed positions for the calibration are added to the tree In this example 26 Positions on one plate are used 11 Select the top of the tree item Positions on the left to be able to select the level of calibration see figure 1 9 a Offset angles This level calibrates the offsets angles for the shoulder elbow wrist 1 and wrist 2 The method does not provide enough information to calibrate the base and wrist 3 b Partially This level calibrates more parameters than 11a to cater for other deviations than offset angles It is not a full calibration but as full as the nature of the method allow it to be 12 The calibration is started from the Calibration tab see figure 1 10 13
17. Start the calibration by press Make Calibration see figure 1 10 File 14 50 41 File 13 09 46 1 T m Installation Calibration Move 1 0 Log Program installatior libration Move Log Positions Setup Calibration Parameter overview e Positions 12 ip Calibration Parameter overview 2 3 Plates Huet Calibration levels The calibration can only be proceed if some v ErPrate Ej Plate 26 1 3 condisions are fulfilled 1Pos 1 1 1 Offset La dece par See 1Pos 1 After the calibration will the result be analysed The set angles Y i Y 3 Pos a 2 DTS seen ETES oes 3Pos 2 result can only be applyed if the calibration not are cases can be resulting in a wrong 0 Pos_ Partially calibratio 1Pos 3 If the calibration endup to be bad or it is unable to 3Pos 4 3Pos 4 proceed the calibration it is proberly because of 3Pos 5 3Pos 5 Reload default lacking quality or too less measurements Pos 6 1Pos 6 3Pos 7 3Pos 7 D Pos 8 D Pos 8 r Pos 9 1Pos 9 1Pos 10 The selected method need more than 20 positions to 1Pos 10 Status Ready 3Pos 11 be measured 3Pos 11 3 Pos 12 10 measurements for the robot 3Pos 12 3Pos 13 6 measurements for each plate 3Pos 13 14 20 extra for verification 14 Pos_15 1Pos 15 Pos
18. ation by relative known positions This user manual goes through the calibration method for the kinematics implemented on the Universal Robots controller from software version 1 4 The manual is organised as a step by step tutorial Figure 1 1 Robot mounted on a plate with holes to align the robot tool flange 1 1 WARNING It is important to point out that not all calibrations are good calibrations Please pay attention to the generated statistics before saving the result of the calibration If a calibration is not performed with due care it is could make the robot very inaccurate 1 2 Required equipment The method is based on the assumption that it is possible to fixate the tool in multiple positions with the tool flange parallel to the plane In this tutorial a stiff plate produced with holes on known positions suited to fit the the tool flanges as displayed in figure 1 1 is used described in appendix A on page 15 1 3 Access the functionality The starting point for the steps of the tutorial is a screen that looks like figure 1 2 The steps are as follows 1 The functionality can be found in the Expert Mode on the controller screen by pressing the Kinematics Calibration button as illustrated in figure 1 2 2 This enables a new tab called Calibration in the normal program mode In this tab three cases can be chosen see figure 1 3 a Program correction A method for adjusting programs after joint or robot replacement
19. ew robot and use this model to correct programs The model is specific for each installation file on the robot Key waypoints are not shared between models After the model has been built the programs are corrected when loaded The model can be extended improved at any time by defining more key waypoints In general is the quality of the model is given by the number of key waypoints and the accuracy with which they are defined If further correction is desired the model can be improved by adding more key waypoints at a later time The accuracy of a corrected waypoint correlates with the quality of the model and the distance to the nearest key waypoint 2 Program correction by key waypoints 2 2 Access the functionality The starting point for the tutorial steps is the expert screen as shown in figure 2 2 The steps are as follows 1 The functionality can be found in the Expert Mode on the controller screen by pressing the Kinematics Calibration button as illustrated in figure 2 2 2 This enables a new tab called Calibration in the normal program mode In this tab is three options available Chose Program correction by key waypoints see figure 2 3 PolyScope Expert Mode Please select Expert Mode EDIT Text File About Low Level Control 1 Kinematics Calibration p Return to Normal Figure 2 2 Select Kinematics Calibration in Ex pert Mode to
20. iew e Positions Set J 1 8 at 5 Plates Plates E iis Make Calibration The calibration can only be proceed if some Robot p neter overview 26 condisions are fulfilled L3Plate 26 The list w vill be updated after each attemt to proceed a calibration 1Pos 1 After the calibration will the result be analysed The Pos 1 The indicate parameters that can be adjusted by the calibration Use Calibration F 3 Pos result can only be applyed if the calibration not are 3Pos 2 apra 13705Tau bad oint 4 0 Pos_ l 9 Save delauk A the calibration endup to be bad or it is unable to 1Pos 3 i 0 00721294 rad 4 EDU _ proceed the calibration it is proberly because of 3Pos 4 dc p 3Pos 5 Reload default lacking quality or too less measurements 3Pos 5 aipha 157 aig d J D Pos 6 D Pos 6 tet Orad 3Pos 7 3Pos 7 0m 3Pos 8 3Pos 8 3Pos 9 3Pos 9 3Pos 10 Status The calibration ended with a usable result but no absolute highprecision 3Pos 10 3Pos 11 capability can be expected 3Pos 11 Brad 2 3Pos 12 Pos_12 3 Pos 13 3Pos 13 14 C Pos_14 E 14 15 bc App 3Pos 15 prepaid p easurement data 20 error D Pos 16 I 0 En ad 7 simi 0 000175099 0000133896 0 0002 76511 rot rad 0 00348159 s rnl 0 000218072 0 0002010
21. ove I O Log 3 Program correctio Setup Program correction Setup Overview E3P PickPlace T gt P PickPlace MoveJ Saved key waypoints Rob ot serial numb er E1P another_Program Saved key waypoints To_Pick Ei Moves e c3 A SN 2000200004 robot to this robot 3 additional WP1 SN 2000200004 robot to this robot 3 pick Installation default veg 1 additional WP2 Zl Installation default 3 set o 0 0 pice Installation Q additional wP3 PickPlace pick D Wait 0 1 D PickPlace Place D additional WP4 D PickPlace Place EE D additional WP5 3 another Program additional WP1 3 To Pick additional WP6 3 another Program additional WP2 MoveJ ES 3 another Program additional WP3 3 To Place MoveL Place Program name Waypoint name C set Do 0 0 3 wait 0 1 MoveL 3 To Place Old Robot This Robot Serial Number 2000200004 Serial Number 2000200114 Checksum 0x35461a80 Checksum 0x86d77ca0 88 84 105 16 143 28 22 96 91 46 1 05 89 10 103 27 125 98 42 16 91 46 0 84 x Corresponding Tool Position 0 0 0 0 0 3 mm v na Delete Save J ID Delete Save m Save Save Figure 2 12 The overview tab Figure 2 13 Waypoints from multiple programs can be added and displayed in the Overview tab 11 2 Program correction by key waypoints 2 5 Correct a program After the key waypoints a
22. pel e d UNIVERSAL ROBOTS Calibration manual Version January 8 2013 Contents 1 Calibration by relative known positions 1 Dal WARNING 1 L2 Required equipment 5405 AC aod ded d bue ia 1 LS ACCOSS THC functionality siano or co 1 1545 Measure the 777 2 Lo HS IMT Et Seay sgh es ede ee ty Beer eae 4 LO 5 1 6 1 Explanation of the printed statistics 5 JJJ 6 1 6 3 Apply the Calibration 2 ane cae 6 6 1 5 RESCRCAMDGATION ote SC pd UD aU EUR MODA up eb ee haere aha 6 2 Program correction by key waypoints 7 2 1 x uuo aot es oon UR Lac QoS eaa t ess ee a due do e eee ee eda TAE as 7 2 2 ACCESSIN FUNCUOMANLY sume oam aoe Cae pesar aus e d nae tae bene ho ie 8 2 5 Redetmekey waypDOIts 43 x 9 Gorespondme IGOLPOSILOT sic 44 005 dont ee wes ph So eee ee LoS Oa 10 2 3 2 Waypoints from multiple programs 11 24 Handle keyswavpOLDIs does 11 2 9 Conecta DIOPEQIDES 505 31028 one OS cR os Acn ERR eR We EA oed our CA eee Antena 12 Appendices 15 A Calibration board 15 B Robot Parameter 16 BEL UR PPP rrr 16 B URU ae ales dA eI DI Mta iia ah eae 16 ii 1 Calibration by relative known positions 1 Calibr
23. re 1 6 6 Move the related robot configuration by pressing Teach new position see figure 1 6 7 Teach the robot to the correct position and pressing OK to complete one position see figure 1 7 8 To continue adding multiple positions pressing Add new position see figure 1 6 9 Step no 5 to 8 is repeated until enough positions are added 10 Before starting on the calibration part it is recommenced to save the collected data This is done by pressing on the disk in the top left corner Please note that the save function in the file menu save robot programs and not calibrations and therefore can not be used see figure 1 6 1 Calibration by relative known positions File 14 43 45 File Program Installation Calibration Move Log Program Installation Calibration Move vo Log P 10 Setup Calibration Parameter overview Move Tool Robot Feature Position measurement 200 Position mm Joint Configuration Not defined RON Tool A z 2 N Base 91 z 6 Teach new position Shoulder EN 3 1 D wrist gt wrist 2 m gt Remove this point 8 Add new point D Wrist 3 E7 kca aaa aoa Simulation o Real Robot Figure 1 7 Move the robot to the correct position and press OK
24. re redefined the programs can be corrected during a normal program loading 12 Load the program to be corrected see figure 2 14 File 15 01 54 Program Installation Calibration New Program Load From File Load Program Use Template Pick and Place Empty Program Figure 2 14 Load the program which are going to be corrected 13 The robot controller realizes that the program comes from a different robot and asks whether you want to correct the program To correct the program press yes as seen in figure 2 15 14 Another popup tells when the corrected is done As the correction can take some time please be patient see figure 2 16 If the correction failed please verify your key waypoints and improve their accuracy Robot has changed 2 Do you want to correct the program waypoints Program correction Program correction done Please test before saving 13 OK Figure 2 15 To correct the program press yes Figure 2 16 Correction done 12 2 Program correction by key waypoints 15 After the program is corrected it is recommended that you test before you overwrite the old program as is indicated in figure 2 17 If a better accuracy is needed add additional key waypoints and repeat from step 12 File 13 52 34 Installation Calibration Move Log E PickPlace Command F BeforeStart Set 00 0 0 Prog ram Robot Program aed
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