Tool Calibration

    Hi guys,
    recently we've installed an ES165D (DX100 controller) with a tool for milling. Appoximately it weights 40/50 Kg, so I start with the calibration( 5 points procedure), but when I verify the tcp rotation around a point I find an great error: the tcp shifts about 2.5/3mm from the center (-2.5/3mm in the reverse rotation, so the error is around 5/6 mm).
    Has anyone had a problem like this? Is a problem the load?
    Any suggestion, experience or idea.
    Thanks

    Hi,
    A shift of 1-3 mm is something that you can expect on any robot.
    Also, the repeatability of your robot is 0.2mm which makes it less appropriate for accurate tasks.
    I would say that 5-6 mm is something to expect with your setup (innacurate robot + heavy tool)
    As Fabian said, try to uniformly change the orientation of each of the 5 points.
    If it was a TCP error calculation you would have much bigger errors.

    Thanks Fabian an Nubi86 for your opinion.
    Fabian: are you asking if I put the angle in the tool calibration? the answer is yes-> for the X=-180 and Y=-90
    nubi86:


    As Fabian said, try to uniformly change the orientation of each of the 5 points.
    Where does Fabian write this? I'vel lost a part of his message?
    Anyway I try to change the orientation in a "simmetry" way around my "calibration tool".


    I would say that 5-6 mm is something to expect with your setup (innacurate robot + heavy tool)
    This is very bad. There are a couple of application that request "NO ERROR(in another world, of course)" or a negligible shift(around 1 mm).

    I guess (actually, assuming) that the robot is calibrated reasonably.


    Francesco: Is it perfectly 180 and 90 ? Are they machined pieces ? When you move the robot to 0,0,0,0,0,0 pulses, does the tool (visually) looks -180 and -90 off or you see another weird angle (like 21 degrees) You are right, I think nubi86 misinterpreted me wrong.
    Is the tool a gripper (hand) or some kind of gun ? How do you know is off ? HOw do you do the 5 TCs ?

    Retired but still helping

    @ Is it perfectly 180 and 90 ? Are they machined pieces ? When you move the robot to 0,0,0,0,0,0 pulses, does the tool (visually) looks -180 and -90 off or you see another weird angle (like 21 degrees). Is the tool a gripper (hand) or some kind of gun ?


    Visually the tool looks -180 and -90 and yes it'made of machined pieces ( a mill tool mounted on an electric motor with a spindle).

    potis
    Yes it's the same tool, of course.
    But your question is not stupid, because brings the speech to another point:


    usually I've always used a different NUMBER tool for jogging in the calibration(for example the tool number 0 to calibrate a new tool that has a the tool number 2) and I don't know if it was correct or no, but until now it works.
    During the calibration of this new tool, I've also tried the calibration of the tool 2 using the same TOOL NUMBER in the calibration(2 in this example).
    The results are the same in both tests: not good.

    Try 7 point calibration (standard setting for arc Weld in Europe), little bit more accurate, but im afraid unreachable without Yaskawa code(but not really a paid option). Or try calibration by 25 point using special software (MotoCalcv) . If you aren't able do a proper calibration even after several attempts, your abso data can by also corrupted.

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