Allen-Bradley 1756-HYD02 User Manual page 179

Geometries with orientation support
To calibrate a Delta J1J2J3J4J5 robot:
1. Obtain the angle values from the robot manufacturer for J1, J2, J3, J4, and
J5 at the calibration position. These values are used to establish the
reference position.
2. Refer to manufacturer's datasheet to determine if the associated sized motor
contains an internal or external gearbox from the motor to actuation at the
links or Joints to move the robot.
3. On the Scaling tab in the Axis Properties dialog box, in the Transmission
Ration I/O box, set the gear ratio for each axis.
4. In the Scaling box, enter the scaling to apply to each axis (J1, J2, and J3)
such that one revolution around the Link1 (load rev) equals 360 degrees.
The same applies to the J4 and J5 axis. One revolution of the J4 or J5 axis
should equal 360 degrees.
5. Move all joints to the calibration position by jogging the robot under
programmed control or manually moving the robot when the joint axes are
in an open loop state.
6. Do one of the following:
a. Use the Motion Redefine Position (MRP) instruction to set the
positions of the joint axes to the calibration values obtained in step 1.
b. Set the configuration value for the joint axes home position to the
calibration values obtained in step 1 and execute a Motion Axis Home
(MAH) instruction for each joint axis.
7. Move each J1, J2, J3 joint to an absolute position of 0.0. Verify that each
joint position reads 0 degrees and the respective L1 is in a horizontal
position (XY Plane).
If L1 is not in a horizontal position, configure the values for the Zero Angle
Offsets on the Geometry tab in the Coordinate System Properties dialog
box to be equal to the values of the joints when in a horizontal position.
8. Move each J4, J5 joint to an absolute position of 0.0. Verify that each joint
position reads 0 degrees and the respective J4 and J5 positions are in the Z
axis and Y axis direction of the Base Frame.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Chapter 4
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