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3. Type calibrate at the dot prompt in the V
WARNING: The robot will move when you type calibrate. During
calibration the robot moves to the softstop limits in all joints. Observe all
safety precautions.
When calibration is complete, the monitor displays the dot prompt. This means
the system is ready for operation. The pair of green LEDs labeled PWM on the
front of the amp panel will also turn on.
About Calibration
Each robot has specific parameters that locate the zero degree position for each joint. The
zero degree position is based on the first order index from the home sensor. This informa-
tion is read from the robot's Robot Signature Card (RSC).
The first step in calibration is to "twang" the motor of each joint. Twanging energizes one
of the phases of the motor to find the commutation point of each motor. The motor moves
the joint along a pre-defined direction toward its home sensor, then back to its 0 degree
position. The robot jerks slightly during twanging.
6.4
Learning to Operate and Program the Adept 550 Robot
When the robot has been calibrated, you should go to the V
to find information on basic operation of the V
Instructions for Adept Utility Programs for information on using the Adept utility programs.
For programming information you need to refer to the following list of optional manuals:
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• V
Language User's Guide
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• V
Language Reference Guide
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• V
Operating System Reference Guide
Adept 550 Table-Top Robot User's Guide, Rev A
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Learning to Operate and Program the Adept 550 Robot
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monitor.
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Operating System. Also refer to the
Operating System User's Guide
49
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