Omron CR UGD4 XL Series User Manual page 31

• Now tighten the star nut until the tool is fixed
• Release the motor brake from the selected motor and push the upper arm with his ball joint against the calibration
tool as shown above
• Now fix the motor brake from the selected motor
• Repeat the calibration steps for the other two primary arms
• Remove the tool
WARNING
• CALIBRATING THE ROBOT MUST BE CARRIED OUT BY QUALIFIED PROGRAMMING PERSONNEL ONLY, AS THIS
REQUIRES AN EXCELLENT LEVEL OF KNOWLEDGE OF THE CONTROL SYSTEM.
• WHEN CARRYING OUT THE HOMING YOURSELF, THIS MUST BE CARRIED OUT EXACTLY IN THE WAY AND THE
ORDER THAT THEY ARE DESCRIBED.
• Now all the primary arms are in zero position from the kinematic model
• Now put the encoder values from the servo motors in 0°
• Check that the angle indicated for the three motors is 0° (±0.1°)
• Your robot is now calibrated
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