Does anyone know if Fanuc robot pulse encoders use a zero index pulse. In fact what type are they
Fanuc Pulse Encoders
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amar15t -
January 18, 2018 at 9:59 PM -
Thread is marked as Resolved.
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The keep the position information, encoders require energy from a battery when not energized by the controller. When energy fails, position is lost.
The first thing you need to do is rotate the motor to "establish pulse".
That is the zero I assumed.
Then you move the axis to zero (marks) position and record the pulses information in that posture.
That is the master position.
Finally you calibrate the arm.
I wonder what the calibrate step actually does. -
No they don't have a zero index.
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So your entirely dependent on aligning the zero scales correctly to maintain the nominal robot physical position to its math model - for accuracy
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Yes, or you need to fixture master the robot or you can use Ir calibration if you have the option.
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THAT and the mathematical model itself
I´ve found DH parameter in the robot variables. The stored values are the same as in the Robot Datasheets
I doubt they manufacture the robots with such precision.
Absolute precision not only requires exact mastering. Also DH parameters tailored for the arm mechanism
But for practical application a good mastering is enough
What are you trying to do?