R12 Robot Manual
page
23
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
8.
Enter USAVE to save to the flash ROM.
