In a backup from before you fine calibrated.
Visually lining up the marks on a big bot is tough. The SMU in the manipulator should have had the fine cal numbers stored and that could be transferred to the controller. Even if that was done, that's still assuming those numbers were correct.
I suggest getting a digital inclinometer (level). ABB gives some machined flats to check & 2 longer bolts on the faceplate to check axis 6. Even with an inclinometer, there are still minor differences every time. You might want to try doing another fine cal when TCP doesn't work. I had one that took many attempts before I got a good TCP and an accurate large calculated circle for a plasma cut.
Another $$ possibility is have ABB or other vendor do a cal pendulum calibration.
I had a reliable one that measure down to 0.05 increments that I kept right in my laptop bag. Had our machinist true it with the surface grinder and it gave consistent results.
I believe we just have to take care with A1 inclination (floor).
No, A1 doesn't have influence to tcp measurement precision, same for A6.
It's only relevant when comparing two different robot mechanics.
I believe we just have to take care with A1 inclination (floor).
I base measuring off the machined flat on the base used to mount the Cal Pendulum, not the floor or mounting plate.
Skooter for years I didn't know what that was for! Now I know. 👍
Scraped many clean to use them. I would have our paint guy mask those on refurbs. I just added the Cal Pendulum manual to the manuals sub-board, that's where the pic came from.
