Table of Contents
Advertisement
5 Calibration, M2000
5.1.1 How to calibrate the robot system
5.1: Overview
5.1.1 How to calibrate the robot system
General
This section provides an overview of the procedures to perform when calibrating the robot
system. Many of the steps in this overview are detailed in other sections to which references
are given.
Method -Wyler
The calibration procedure with Wyler equipment may be performed with either one or two
Calibration
sensors. The procedure detailed here is performed with only one sensor and may be described
as checking an pre-adjusted sensor, trying to obtain the same measurement value on every
axis as when adjusted at the reference plane.
All article numbers of relevant equipment are specified in their instructions respectively.
Overview,
calibration
Step
Additional
In addition to the basic calibration procedure detailed above, a number of calibration related
information
actions may be performed:
Action
How to update the robot revolution counter without performing a
complete calibration.
How to manually check the current calibration position.
100
Action
1.
Check that all required hardware is avail-
able for calibrating the robot.
2.
Manually run the robot axes to a position
close to the correct calibration position.
3.
Initialize the Levelmeter.
4.
Start the calibration procedure on the TPU. Detailed in section Fine calibration
5.
Calibrate each axis.
6.
Verify that the calibration was successfully
carried out.
Note
Required hardware is specified in the
calibrating procedures for each axis.
Use the calibration scales fitted to
each robot axis to locate this position.
These are shown in the section Cali-
bration scales and correct axis posi-
tion on page 102.
Detailed in section Initialization of
Levelmeter 2000 on page 108.
procedure on TPU on page 122.
Detailed in each axis' calibration
instruction.
Detailed in section Post calibration
procedure on page 129.
Detailed in section:
Updating the revolution
counters on page 127
Checking the calibration
position on page 105
3HAC021111-001 Revision: B
Advertisement
Table of Contents
