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5. Move the pen around the workspace to ensure that the pen is writing on all parts of the page. If it is not, adjust
the pen again and if problems persist, refer to the troubleshooting section of this manual.
3.2 Calibration Procedure
Each time the robot is reconnected to the control PC, or the PC has been rebooted, the robot must be calibrated.
Calibration of the robot is the process of placing the robot is a know configuration and setting the encoder count to
the appropriate value for that location. To calibrate the robot follow these instructions.
1. Install the stainless steel calibration posts into the set of calibration holes as shown in Figure 2.1.
2. Manually push Link1 and Link 2 up against the calibration posts as shown in Figure 2.2.
3. Run the calibration model, dof_calibration.mdl.
4. Remove the calibration posts and store them in their storage locations (#12 in Figure 2.1).
The robot will remain calibrated as long as the control computer remains on, and the encoder cables remain con-
nected. If either of these conditions ceases to exist, the calibration procedure must be performed again.
Figure 3.3: Pen Adjustment
2 DOF PLANAR ROBOT User Manual
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