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3
Installa
tion
3-11
• Now tighten the star nut until the tool is fixed
• Release the motor brake from the selected motor and push the upper arm with his ball joint against the calibration
tool as shown above
• Now fix the motor brake from the selected motor
• Repeat the calibration steps for the other two primary arms
• Remove the tool
WARNING
• calIBRatINg thE ROBOt MuSt BE caRRIED Out By QualIfIED PROgRaMMINg PERSONNEl ONly, aS thIS
REQuIRES aN ExcEllENt lEvEl Of kNOwlEDgE Of thE cONtROl SyStEM.
• whEN caRRyINg Out thE hOMINg yOuRSElf, thIS MuSt BE caRRIED Out Exactly IN thE way aND thE
ORDER ThAT ThEy ARE DESCRIBED.
• Now all the primary arms are in zero position from the kinematic model
• Now put the encoder values from the servo motors in 0°
• check that the angle indicated for the three motors is 0° (±0.1°)
• your robot is now calibrated
Summary of Contents for CR_UDG4_NR
Page 1: ...ZX T Series Cat No I192E EN 01 Delta Robot USER S MANUAL Delta Robot CR_UGD4 Series...
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Page 15: ...Chapter 2 Model overview Contents 1 Overview 2 1...
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Page 39: ...Chapter 5 Robot settings Contents 1 Kinematics 5 1 2 Workspace 5 2 3 Software limits 5 3...
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Page 48: ...6 Specifications 6 2 2 External view and dimensions 67 0 ULSSHU GLPHQVLRQV 0...
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