ST Robotics DEUCALEON R17HS, User Manual

Page: 22 / 28

R17 Robot Manual
page 22
11. CALIBRATION
When the robot calibrates it seeks out proximity detectors on each axis and corrects the
counts to values seen in the array LIMITS which you can view with VIEW LIMITS
The accuracy of these figures affects the home position, and is particularly important in
Cartesian transformations i.e. calculations of joint positions from Cartesian coordinates.
Gripper/ end effector calibration
If you fit your own gripper or end effector you will need to set up the preferred wrist angle
for your home position. First of all do
START CALIBRATE HOME so that other axes are not affected.
TELL ELBOW E-RATIO MOVE to get the hand horizontal.
TELL WRIST DATUM to find the sensor.
See fig1. Fit the end effector. It will probably be at some random angle as in fig2
fig1 fig2 fig3 fig4
Using a spirit level with the teach box drive J5 in a negative direction until you have the
hand in the orientation you prefer as in fig3. Try to keep within the first 90 degrees of the
datum position. If necessary remove and refit the end effector as in fig4 so it is within 90
degrees of your desired position. Then type
TELL ELBOW REVERSE E-RATIO MOVE (back to upright)
To find the new value for the wrist enter the following in order:
1.
START – zeros all counts.
2.
TELL WRIST DATUM – the robot seeks out the sensor.
3.
WHERE – look for the value under wrist and write it down
4.
(value) LIMITS 8 + ! which over-writes the old parameter
5.
Enter USAVE to save to the flash ROM.
Now you can save the new parameters to the PC as in section 11
6
th
axis calibration
To perform a similar action on the 6
th
axis:
1. START and CALIBRATE in the usual way.
2.
Enter READY
3. Using the simple teach pad in joint mode and a
spirit level move J6 in a negative direction to level the
gripper as in the picture on right.
4. Enter TRANSFORM ASSUME
5.
TELL WRIST DATUM – the robot seeks out the
sensor.
6.
WHERE – look for the value under wrist and write it
down
7.
(value) LIMITS 10 + ! which over-writes the old parameter fig 5
8.
Enter USAVE to save to the flash ROM.