Universal Robots PolyScope X User Manual page 33

Adjusting
robot payload
You can use the Payload Estimation Wizard in PolyScope to assess the Payload and CoG.
Preparing for A calibration board is required to calibrate the camera. You can find and print a calibration
calibration board in the calib.io pattern generator. You can also adjust the grid and cell size in the
Calibration Studio URCap. Make sure the printed board has the correct dimensions, as
printer driver can introduce some scaling.
To set up your calibration board:
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You can improve calibration accuracy by tapping Replay. The robot automatically moves
through all manually recorded poses and re-takes images of the calibration board.
AI Robotics Kit
CAUTION
Ensure that you are using the correct Payload and Center of Gravity
(CoG). Incorrect payload may result in Robot arm movement when
pressing the Freedrive button.
Position the calibration board inside the robot reach area, where you can move the
robot arm maintaining the distance of 20cm to 80 cm between the camera and the
board.
Do not make any adjustments to the position of the calibration board during the
calibration.
The Calibration board must be evenly lit. Avoid shadows, for example from robot arm
or operators body.
WARNING
Stand outside the robot reach, robot will move automatically.
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10. Software
User Manual