Accuracy Check Procedure - Novanta ATI Axia80 Manual

Manual, F/T Sensor, Axia80
Document #9620-05-B-Axia80-02

3.6 Accuracy Check Procedure

Complete the following procedures after the initial installation of the sensor to the robot and once annually
for maintenance.
NOTICE: The mass on the tool side can be the weight of the tooling used in the application.
1. Attach a fixed mass to the tool side of the F/T sensor:
a. Remove cables that form bridges between the sensor's mounting and tool sides.
2. Power on the sensor. Allow a 30 minute warm-up time. Minimize external sources of
temperature change.
NOTICE: For optimal results, write a robot program to move the sensor and mass to each of the
following positions sequentially. At each position, the robot should pause to record the sensor's
output. Avoid jogging the robot and waiting several minutes between each position.
3. Move the robot so that the sensor is in the following positions:
Record the sensor's output, F
a.
• Point 1: +Z up
• Point 2: +X up
• Point 3: +Y up
• Point 4: -X up
• Point 5: -Y up
• Point 6: -Z up
4. Calculate F
a. Use the following equations, to complete the calculations:
5. For each of the 6 points, complete the following calculation:
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
x, point n
, F , and F
x, average y, average z, average
F F
, at each point without biasing.
y, point n z, point n
:
B-19
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