Hello
Is there a way to calibrate a 7th axis to for example 180 degree?
My marker is not in 0 degree.
I have tryed to put in a value in "calibrating sensor position" but it is not working.
Thank you.
Hello
Is there a way to calibrate a 7th axis to for example 180 degree?
My marker is not in 0 degree.
I have tryed to put in a value in "calibrating sensor position" but it is not working.
Thank you.
Is this a new or existing setup? How do you use the axis? If it is new, you can move it to the zero position marker and fine calibrate. If it is already programmed, doing so will throw off your program's positioning.
To further Lemster's question; Is this a linear or rotating external axis?
Should the physical location of your calibration position be fine and you want a specific value displayed when calibrating or revolution counter updating use the Calibration Position parameter from the Arm Type in the topic Motion.
NOTE: An improper physical location will cause positioning problems (potential catastrophic damage as well) with the robot system's inverse kinematics.
Description Calibration Position defines the position of the axis when it was fine calibrated.
Usage This value should specify a well-defined position in which the axis can be positioned repeatedly. This position is then used when updating Calibration Offset and revolution counter.
Calibration Position Sensor (which I have yet to encounter) seems related to the location of the transducer for the ABB leveling system:
Description Calibration Sensor Position defines the calibration sensor position on the arm side.
Usage The value is set in degrees.
Allowed values A value between -180 and 180 degrees.
Hi Lemster68 and SomeTekk
Thank you for reply.
Yes, it is by NEW setup.
it is a rotating external axis mounted on the robot flange. (no change in kinematics will happent)
7th axis can move from -180 degrees to 180 degrees. the marker can be in the range -180 to -140 or 140 to 180. in the range -140 to 140 degrees there is no good place for a marker.
that's why I would like to move the 7th axis to 180 degrees (the marker) and preset the 7th axis to 180 degrees.
When I calibrate I get 0 degrees. I don't want it because I can't do it accurately.
How can I "fine calibrate" and "update revolutions counters" and get 180 degrees?
Best Regards
(1) MAKE A BACKUP(!) and note/mark where current external axis 0° is.
(2) Determine where you want 180° to be and get your external axis to that position (if needed).
(3) — Possibly optional — Fine calibrate the external axis if different from step 1.
(4) Edit Calibration Position parameter to 3.14159 and reboot. The system should power up at 180° though you may need to update counters.
NOTE: The system will drive the external axis to programmed values, they will just be rotated 180° farther in the positive direction.
Should 2 - 4 above not work so well, restore the backup and update revolution counters at position marked in step 1.
BTW: A digital inclinometer that can be placed in a repeatable position is a handy way to get counters updated with precision for the future, for axes that rotate through the horizontal plane.
Incredibly accurate and outrageously expensive: Wyler
Good and won't cost a LOT: Mitutoyo
Decent and reasonably priced: Klein Tools
Hi SomeTekk
It worked very well as you descriped.
I did even not neded the backup.
Thank you.
Best Regards