AE AIR20-A, Manipulator Manual

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Manipulator Manual of AIR20-A Industrial Robot Calibration of the axes of the AIR20-A manipulato
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10 Calibration of the axes of the AIR20-A manipulato
10.1 General
This section describes the case where the manipulator needs to be calibrated
and the zero point calibration method under different requirements.
10.2 When calibration is required
The operator needs to be recalibrated when the following situations occur:

Repair such as motor replacement or belt pulley removal.

Replace the encoder battery.

The encoder wire of the motor is loose or reinstalled.

The manipulator has a strong collision.

Replace the control cabinet or control system (e.g. industrial personal
computer).
10.3 Calibration position of each Joint
The position of each axis of the manipulator is shown inFig. 10-1 below, in
which, except for the J3 axis, it is 90 ° , and the other axes are 0 ° .
Fig. 10-1 AIR20-A zero point diagram of each axis.
J3 Calibration position
J4 Calibration position