Nachi SH 166 - Encoder correction

[vllcko]

Hello.

Please have you any manual about mounting calibration set (zero position) during encoder correction setting for Nachi SH 166. Thanks.

[DJR96]

If you haven't already got this sorted.......

Each joint has either a pair of holes to line up a pin through it or some bolt holes and keyway slot to bolt a reference hole block for a pin to go through. The pin holes should have a plastic plug in them just to keep them clean. And the other ones have a plate bolted over it when not needed.

When these holes/pins line up that encoder position becomes the "pin" position or reference point and is where it needs to be to "master" the robot, performing encoder correction.

This data is stored in a constants file in the controllers memory. It is lost if you format the memory. You should keep a backup copy of it.
It is also accessible via Constants>Machine constant>4 Encoder correction
You can either enter the data if known or manually move the robot to pin position and record (SET and REC key) to set that position as the "080000" reference position and it will work out the correction needed from the current encoder position signal.

I guess you could use Monitor1>Axis data monitor and move the robot until each joint says 080000. The angle for each is 0 degrees except joint H which is 90 degrees. This is the pin position and factory preset zero position. S = straight ahead, H = straight up, V = horizontal and the wrist all straight. In fact I think it is as pictured on the teach pendant when you power it up.
If the pins/holes don't quite line up then it needs encoder correction performed.

Hope that helps!


[Note: I've edited some details slightly]

[DJR96]

OK, some info that may be helpful.

If you are trying to perform the encoder correction procedure and do not have any of the values recorded anywhere at all, try this:-

1) Move the robot to the "pin" position which is the reference position to which everything works from.

2) In Constants>Machine Constants>Encoder Correction, make a note of the values there.

3) Reset the encoders by using the jumper wires in the base of the robot. Restart the controller once that's done.

4) Confirm the reset was done correctly by going to the Encoder Correction screen again. Insert a 0 in each box and press F12 to complete. Go back to that screen again and each of the encoders should be showing a value less than 2048.

5) Make a note of those values above.

6) Now to enter an encoder correction value. Enter values you have recorded if you have them. Or do the math's:-
Some of the values are in the 522xx to 524xxx range. My S, H, and R2 axis were. For these you go 524288 minus the value at step 4.
The others are in the -7864xxx to -7866xxx range. My V, B, and R1 axis were. For these you go -7864320 minus the value at step 4.
F12 when done. With these correction values in, the number next to them should all read 00524288.

7) Now go to Constants>Machine Constants>Axis Constants. For each axis press SET then REC to record the current position as the reference position. This is assuming the robot is still in the "pin" position.

And that should do it!

[trunkcnc]

Hi there, will that be ok for AR controllers aswell??

Thanks beforhand.