Rethink Robotics Sawyer, Original Instructions Manual, Page: 150 / 220

143
Intera 5.3
Maintaining and Supporting Sawyer
Calibrating Sawyer
In order to Calibrate Sawyer, you must access the CALIBRATE routine on Sawyer’s Head Screen:
On the main screen, press the Rethink Button, then go to SYSTEM, and then click on CALIBRATE.
Use this feature to calibrate each of Saywer's 7 joints. The calibration routine takes about 5
minutes.
•
Please remove any external payload from the robot arm prior to calibrating
(EOAT, Tool Plate, 3rd party gripper)
•
Clear space around the robot so the arm can move freely without obstruction
during calibration.
•
Reboot robot after successful calibration in order for calibration parameters to be
saved.
What is actually being calibrated?
This process calibrates the Joint Torque Sensors. Having better calibrated torques sensors may
have some secondary affects on position accuracy, primarily for mid-motion tracking with heavy
payloads, but it's just a second order affect.
Could calibrating the robot have a negative impact or are there situations when I shouldn't
calibrate? For example, if my task is running well, could the endpoints shift after calibrating?
•
Any change to the SDS sensor could cause small changes to the endpoint
accuracy. If the task is running well, don't touch it.
When should a calibration be performed?
•
When setting up for the first time.
•
Any time the robot has been shipped and is coming out of a box, it is
recommended to run a calibration right after booting it up.
•
When the robot gets upgraded.
•
A re-calibration should not be required when updating, unless something specific
to the release requires it (bug fixes to calibration or to the model that the
calibration uses). The release notes will make reference to the calibration
requirements if they are needed.
•
When one or more joints are pulling in one direction in zero-G. This is a sign that
something may be off with the calibration and the robot should be calibrated.