Calibration procedure.
1. Turn on the main switch.
2. Turn the robot controller on the teach pendant.
3. Reset the robot safety system.
4. Set the robot system into a Normal state (green status lamp on pendant).
5. Press the Program robot button in the main menu.
6. Load the program that you wish to calibrate. Before calibration make sure that the actuator (if available) is in a downward position.
7. Select the tab Installation, thereafter TCP Configuration.
8. Select the TCP_1 configuration and press Set as default to activate it.
9. Set X, Y, Rx, Ry, and Rz values to 0.
10. Set Z- to correct value (depending on the type of tool 160(new one) or 80(old one) are default values).
11. Set the payload to the correct value (1.8 kg is the default value for standard single gripper hardware).
Dotting operation
During the actual calibration, the calibrating tool makes "dotting" against the calibration plate in three locations in the picking position and the geometrical coordinate result is stored in the robot system's installation file.
The safety system needs to be kept intact to avoid interrupting the calibration process. The safety shroud on the gripper needs extra attention for certain calibration tools.
The picking position geometry is recorded as a "Feature" named "frPick". The three dotting points:
• Pick_O, a corner that the box is positioned to
• Pick_Y, for the Y-axis side where the shorter side of the box is (width)
• Pick_X, for the X-axis side where the long side of the box is (length)
The calibration plate must be used. Neglecting the plate will result in a vertical offset error.
The dotting points must be carried out in order:
1 Pick_O
2 Pick_Y
3 Pick_X
Dotting instruction for Pick_O
1. Press the Features tab
2. Press trick.
3. Press the "Pick_O" point and then press the “Change this point” button, which causes the “Move” page to appear.
4. On the Move page, the arrows can be used for movement and the speed can be reduced to be more precise with the slide bar at the bottom.
5. Move the robot with the arrows so the tip of the calibration tool reaches the corner where the boxes will be positioned during normal operation. The calibration tooltip needs to be as close to the calibration plate and the corner as possible.
6. Execute sub-routine coordinate mating as below.
7. On the Move screen, press OK when the arm location is correct (make necessary corrections if needed), to make the Installation screen reappear
Dotting instruction for Pick_Y
1. Under frPick, press the Pick_Y and press the Change this point button which causes the Move page to re-appear.
2. On the Move page, move the arm as for Pick_0, to the Pick_Y position along the conveyor surface a minimum of 100mm away from the Pick_0 position(do not move to the position directly to avoid colliding with the plate or the conveyor) and make sure the tooltip reaches the calibration plate.
3. Execute sub-routine coordinate mating.
4. Press OK when the arm location is correct, which will make the Installation page return
Dotting instruction for Pick_X
1. Under frPick, press Pick_X and press the Change this point button which causes the Move page to re-appear.
2. On the Move page, move the arm as for previous points, top the Pick_X position along the conveyor surface a minimum of 100mm upstream of the corner Pick_0 position (do not move to the position directly to avoid colliding with the plate or the conveyor). Make sure the tooltip reaches the calibration plate.
3. Execute sub-routine Coordinate mating.
4. Press OK when the arm location is correct, which will make the Installation page return.
Dotting finalization
1. All three coordinates are now found, but unsaved.
2. On the Installation screen, press TCP configuration to open the Setup for the Tool Center Point page.
3. Select TCP in the Available TCPs scroll down the list and press Set as default.
4. Press Load/Save to the left which opens the Load/Save robot installation to the file page.
5. Press the Save button to save the three coordinates into the installation, which disables the button.
6. Leave Program mode.
The machine is now calibrated and ready to be turned off for restoring it to normal operation.