ROKAE xMate CR7, Hardware Installation Manual

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8 Zero Calibration
202206291217/V0.1
46 xMate CR7Hardware Installation Manual
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After replacing the encoder battery.
8.2 Calibration method
8.2.1 Mechanical calibration
The keyway calibration method is adopted from the first axis to the sixth axis of the xMate
CR7 robot. Only one axis can be calibrated at a time, and the specific operation process is as
follows.
Step 1: calibrate the first axis
When the calibration pin is aligned with the calibration slot, the special calibration tool is
used to try to insert the keyway into the keyway according to the graphic direction. if the
keyway of the upper and lower connecting rod is not inserted at the same time, the axis will
continue to rotate slowly until it is inserted at the same time. It is considered that the zero
point of the axis is mechanically calibrated.
Figure 34. step 1
Step 2: calibrate the second, third, fifth and sixth axis
Calibrate according to step 1.
Step 3: calibrate the fourth axis
Refer to step 1 to calibrate the fourth axis, and note that the direction of the special
calibration tool is opposite to that of step 1.